Beidou satellite orbit maneuver detection method, device, equipment and medium
By obtaining the precision ephemeris historical data of Beidou satellite and using the TLE ephemeris and SDP4 models to predict orbital data, comparing orbital forecast errors to determine the orbital maneuver time interval, the problems of large calculations of existing detection methods and unreliable results are solved, and efficient and simple orbital maneuver detection is achieved.
Patent Information
- Application Number
- CN202411614123.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-13
- Publication Date
- 2025-03-21
AI Technical Summary
The existing Beidou satellite orbital maneuver detection methods have problems such as large amount of calculation, excessive dependence on observation data, and unreliable detection results, and lack efficient and simple detection methods.
By obtaining the precision ephemeris historical data of the Beidou satellite, the time interval is determined that the precision ephemeris data is missing, the predicted orbit data is obtained using the TLE ephemeris and SDP4 model prediction, the predicted orbit data is compared with the precision ephemeris orbit data, and the orbit maneuver time interval is determined based on the orbit forecast error.
It realizes efficient and simple detection of orbital maneuvers in Beidou satellites, narrows the detection range, improves the reliability of the detection results, and can be directly used for Beidou satellite space signal performance evaluation.
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Figure CN119659990A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of satellite orbit monitoring technology, and in particular to a Beidou satellite orbit maneuver detection method, device, equipment and medium. Background Art
[0002] During the operation of satellites in orbit, they will be affected by various perturbations such as the gravitational perturbations of the non-spherical earth, the gravitational perturbations of the sun and the moon, and the perturbations of the sun's light pressure, which will cause the satellite's orbital elements to oscillate periodically, resulting in position drift of the satellite, which will gradually deviate from its predetermined position. In order to maintain the geometric configuration of the constellation and the orbital position of the satellite, it is necessary to rely on the onboard power device to change the satellite's orbital elements to correct the orbital drift and maintain the satellite's orbital position. This operation is called orbital maneuvering.
[0003] The BeiDou space constellation is a hybrid constellation composed of three types of satellites: GEO, IGSO and MEO. Due to the geosynchronous characteristics of the orbits of GEO and IGSO satellites, GEO and IGSO satellites often need to perform orbital maneuvers. So far, the BeiDou system has not yet formed a planned interruption release mechanism for orbital maneuvers. Therefore, only by accurately detecting the control period of BeiDou satellite orbital maneuvers (including the time for satellite orbit recovery after maneuvers) can the impact of orbital maneuvers on the performance of BeiDou satellite space signals be effectively evaluated.
[0004] The current track maneuver detection method has the following problems:
[0005] (1) The real-time orbit maneuver detection method is mainly calculated by satellite orbit difference, which requires the calculation of a large amount of orbit difference data. It has problems such as large amount of calculation and over-reliance on observation data.
[0006] (2) The post-orbital maneuver detection method is generally based on the parameter changes of the broadcast ephemeris, which is easily affected by non-orbital maneuver factors and makes the detection results unreliable.
[0007] Therefore, there is currently a lack of an efficient and simple method for detecting Beidou satellite orbit maneuvers, and the detection results obtained only by existing methods cannot be directly used as reference data for the performance evaluation of Beidou satellite space signals. Summary of the invention
[0008] The present application provides a Beidou satellite orbit maneuver detection method, device, equipment and medium to solve the defects of the above-mentioned related technologies. The technical solution is as follows:
[0009] In a first aspect, an embodiment of the present application provides a Beidou satellite orbit maneuver detection method, comprising:
[0010] Obtain the precise historical ephemeris data of the target Beidou satellite during the period to be detected;
[0011] Determine all time intervals in the precise ephemeris historical data that lack precise ephemeris data and have a continuous duration of at least a first preset duration;
[0012] For each of the time intervals, respectively obtain the nearest TLE ephemeris published before the corresponding time interval, and obtain the predicted Beidou satellite orbit data with a continuous duration of a second preset duration based on the TLE ephemeris and the SDP4 model forecast;
[0013] Comparing the predicted BeiDou satellite orbit data with the corresponding precise ephemeris orbit data, and determining a time interval where orbit maneuvers exist according to the comparison result;
[0014] Determine, based on the broadcast ephemeris parameters in the time interval where the orbit maneuver occurs, a sub-time interval in which the satellite health status parameter is 0 and the continuous duration is at least a third preset duration;
[0015] An orbital maneuvering time interval affecting the broadcast ephemeris of the target BeiDou satellite is output based on all the sub-time intervals.
[0016] In an optional solution of the first aspect, the target Beidou satellite is obtained during the detection period [t 1 ,t n ]’s precise historical ephemeris data;
[0017] The step of determining all time intervals in the precise ephemeris historical data where precise ephemeris data is missing and the continuous duration is at least a first preset duration, comprises:
[0018] Identify the time period to be detected [t 1 ,t n Output the time interval sequence for all time intervals that lack precise ephemeris data and have a continuous duration of at least 24 hours
[0019] Where m is the number of identified time intervals, t i Indicates the starting time of each time interval, t j Indicates the end time of each time interval.
[0020] In an optional solution of the first aspect, for each of the time intervals, respectively obtaining the nearest TLE ephemeris published before the corresponding time interval, and obtaining the predicted Beidou satellite orbit data with a continuous duration of a second preset duration based on the TLE ephemeris and the SDP4 model forecast, including:
[0021] For each time interval Get the data published in the corresponding time interval The starting time The previous nearest TLE ephemeris;
[0022] Input the TLE ephemeris into the SDP4 model to obtain the predicted Beidou satellite orbit data with a continuous duration of 30 days predicted by the SDP4 model;
[0023] Among them, the reference time of the TLE ephemeris is used as the starting time of the predicted Beidou satellite orbit with a continuous duration of 30 days.
[0024] In an optional solution of the first aspect, the comparing the predicted Beidou satellite orbit data with the corresponding precise ephemeris orbit data includes:
[0025] Extracting the predicted Beidou satellite orbit for the 30th day from the predicted Beidou satellite orbit data, and comparing the predicted Beidou satellite orbit with the precise orbit at the corresponding time in the precise ephemeris orbit data;
[0026] Output the orbit prediction error of the predicted Beidou satellite orbit relative to the precise orbit.
[0027] In an optional solution of the first aspect, determining the time interval in which the orbital maneuver exists according to the comparison result includes:
[0028] If the orbit prediction error of the time interval is greater than or equal to 100 km, the time interval is determined to be the time interval where orbit maneuvers occur.
[0029] Otherwise, it is determined that there is no orbital maneuver within the time interval, and the time interval is eliminated;
[0030] Wherein, k is the number of time intervals in which orbital maneuvers occur.
[0031] In an optional solution of the first aspect, determining, based on the broadcast ephemeris parameters in the time interval in which the orbital maneuver exists, a sub-time interval in which the satellite health status parameter is 0 and the continuous duration is at least a third preset duration, includes:
[0032] For each time interval in which orbital maneuvers occur, construct corresponding Beidou satellite broadcast ephemeris time series data;
[0033] A satellite health status parameter sequence in the Beidou satellite broadcast ephemeris time series data is obtained, and a sub-time interval in which the satellite health status parameter is 0 and the continuous duration is at least 4 hours is extracted.
[0034] In a second aspect, the embodiment of the present application further provides a Beidou satellite orbit maneuver detection device, including:
[0035] A data acquisition unit, used to acquire precise historical ephemeris data of the target Beidou satellite during the period to be detected;
[0036] A first data processing unit is used to determine all time intervals in the precise ephemeris historical data that lack precise ephemeris data and whose continuous duration is at least a first preset duration;
[0037] The first data processing unit is further used to obtain the nearest TLE ephemeris published before the corresponding time interval for each time interval, and obtain the predicted Beidou satellite orbit data with a continuous duration of a second preset duration based on the TLE ephemeris and the SDP4 model forecast;
[0038] The first data processing unit is further used to compare the predicted Beidou satellite orbit data with the corresponding precise ephemeris orbit data, and determine the time interval where the orbit maneuver exists according to the comparison result;
[0039] The second data processing unit is used to determine, according to the broadcast ephemeris parameters in the time interval where the orbit maneuver exists, a sub-time interval in which the satellite health status parameter is 0 and the continuous duration is at least a third preset duration;
[0040] The second data processing unit is further configured to output an orbital maneuvering time interval that affects the broadcast ephemeris of the target BeiDou satellite based on all sub-time intervals.
[0041] In a third aspect, an embodiment of the present application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method provided in the first aspect of the embodiment of the present application or any one of the implementation methods of the first aspect is implemented.
[0042] In a fourth aspect, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method provided by the first aspect of the embodiment of the present application or any one of the implementations of the first aspect.
[0043] The beneficial effects brought about by the technical solutions provided by some embodiments of the present application include at least:
[0044] The embodiment of the present application provides a Beidou satellite orbit maneuver detection method, device, equipment and medium. By determining the time interval without precise ephemeris data for ≥24 hours in the detection period, the detection range of orbit maneuver can be further narrowed; further, based on the TLE ephemeris and SDP4 model forecasting Beidou satellite orbit for 30 consecutive days, if the orbit prediction error on the 30th day is ≥100km, it can be determined that the orbit maneuver exists in this time interval, and the time interval where the orbit maneuver exists is determined; finally, the Beidou satellite broadcast ephemeris time series data of the time interval is constructed, and the time period in which the satellite health status parameter is 0 (i.e. SatH1=0) for ≥4 hours is recorded, which is the precise orbit maneuver period that affects the Beidou satellite broadcast ephemeris, and the orbit maneuver period is accurately detected from the time interval. The orbit maneuver detection result obtained based on the present application can be directly used for Beidou satellite space signal availability assessment and verify the availability performance of Beidou satellite space signal. BRIEF DESCRIPTION OF THE DRAWINGS
[0045] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0046] Figure 1 It is a flowchart of a Beidou satellite orbit maneuver detection method provided in an embodiment of the present application;
[0047] Figure 2 It is a structural schematic diagram of a Beidou satellite orbit maneuvering detection device provided in an embodiment of the present application;
[0048] Figure 3 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0049] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0050] The terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or modules is not limited to the listed steps or modules, but may optionally include steps or modules that are not listed, or may optionally include other steps or modules that are inherent to these processes, methods, products or devices.
[0051] It should be noted that the terms "first\second" involved in the present application are only used to distinguish similar objects, and do not represent a specific order for the objects. It is understandable that "first\second" can be interchanged with a specific order or sequence where permitted. It should be understood that the objects distinguished by "first\second" can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those described or illustrated herein.
[0052] The present application is described in detail below with reference to specific embodiments.
[0053] Next, combine Figure 1 , introduces a Beidou satellite orbit maneuver detection method provided by the embodiment of the present application. For details, please refer to Figure 1 , Figure 1 FIG. 1 is a flow chart of a Beidou satellite orbit maneuver detection method provided by an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:
[0054] S101, obtaining precise historical ephemeris data of the target BeiDou satellite during the period to be detected.
[0055] S102, determining all time intervals in the precise ephemeris historical data that lack precise ephemeris data and whose continuous duration is at least a first preset duration;
[0056] S103, for each of the time intervals, respectively obtaining the nearest TLE ephemeris published before the corresponding time interval, and obtaining predicted Beidou satellite orbit data with a continuous duration of a second preset duration based on the TLE ephemeris and the SDP4 model forecast;
[0057] S104, comparing the predicted Beidou satellite orbit data with the corresponding precise ephemeris orbit data, and determining a time interval where orbit maneuvers exist according to the comparison result;
[0058] S105, determining, based on the broadcast ephemeris parameters in the time interval in which the orbit maneuver occurs, a sub-time interval in which a satellite health status parameter is 0 and the continuous duration is at least a third preset duration;
[0059] S106: Outputting an orbital maneuvering time interval that affects the broadcast ephemeris of the target BeiDou satellite based on all the sub-time intervals.
[0060] Specifically, in S101, any Beidou satellite can be determined as the target Beidou satellite according to real-time needs, and the precise ephemeris historical data of the time period to be detected can be obtained based on the precise data generated by the target Beidou satellite in the historical operation period. For example, the precise ephemeris historical data for December 2020 is selected. The time period to be detected can be a continuous period of one week, one month or other duration in the historical operation period, and the embodiments of the present application are not limited to this.
[0061] In some embodiments, in S101, a time period to be detected [t 1 ,t n ], the target BeiDou satellite is acquired during the detection period [t 1 ,t n ]’s precise historical ephemeris data;
[0062] Further, in S102, all time intervals in which precise ephemeris data are missing and whose continuous duration is at least a first preset duration are determined in the precise ephemeris historical data obtained in S101. That is, time intervals that meet two conditions need to be identified from the precise ephemeris historical data. One is that precise ephemeris data is missing in the time interval, and the other is that the continuous duration of the corresponding time interval is at least a first preset duration.
[0063] Among them, the first preset time length can be set to 24 hours.
[0064] S102 specifically includes:
[0065] Identify the time period to be detected [t 1 ,t n Output the time interval sequence for all time intervals that lack precise ephemeris data and have a continuous duration of at least 24 hours
[0066] Where m is the number of identified time intervals, t i Indicates the starting time of each time interval, t j Indicates the end time of each time interval.
[0067] In some embodiments, in S103, for each of the time intervals The nearest TLE ephemeris released before the corresponding time interval can be obtained respectively, and the predicted Beidou satellite orbit data with a continuous duration of a second preset duration can be obtained based on the TLE ephemeris and the SDP4 model forecast.
[0068] Among them, the second preset time length can be set to 30 days; TLE ephemeris is two-line element (Two-LineElement, TLE) ephemeris; SDP4 model is an existing accurate satellite orbit calculation model.
[0069] S103 specifically includes:
[0070] For each time interval Get the data published in the corresponding time interval The starting time The previous nearest TLE ephemeris;
[0071] Input the TLE ephemeris into the SDP4 model to obtain the predicted Beidou satellite orbit data with a continuous duration of 30 days predicted by the SDP4 model;
[0072] Among them, the reference time of the TLE ephemeris is used as the starting time of the predicted Beidou satellite orbit with a continuous duration of 30 days.
[0073] Further, step S104 is executed to compare the Beidou satellite orbit data predicted in S103 with the corresponding precise ephemeris orbit data.
[0074] It should be noted that precise ephemeris orbits can be obtained through existing precise positioning data, and the predicted Beidou satellite orbit data can be compared with the precise ephemeris orbit data of the same period.
[0075] S104 specifically includes:
[0076] The predicted Beidou satellite orbit of the 30th day in the predicted Beidou satellite orbit data is extracted, and the predicted Beidou satellite orbit is compared with the precise orbit of the corresponding time in the precise ephemeris orbit data. The comparison result is output to obtain the orbit prediction error of the predicted Beidou satellite orbit relative to the precise orbit.
[0077] Further, determining the time interval in which the orbit maneuver exists according to the comparison result, and judging whether the orbit prediction error is greater than or equal to the prediction error threshold, specifically includes:
[0078] If the orbit prediction error of the time interval is greater than or equal to 100 km, execute step S1041:
[0079] S1041, determining that the time interval is the time interval in which the orbital maneuver occurs;
[0080] The time interval in which orbital maneuvers are retained can be recorded as k is the number of time intervals in which orbital maneuvers occur.
[0081] Otherwise, execute step S1042:
[0082] S1042: Determine that there is no orbital maneuver within the time interval, and eliminate the time interval.
[0083] In some embodiments, in S105, the sub-time interval in which the satellite health status parameter is 0 and the continuous duration is at least a third preset duration can be determined based on the broadcast ephemeris parameters in the time interval in which the orbit maneuver occurs, specifically including:
[0084] The time interval of orbital maneuvers determined in S104 Construct the corresponding Beidou satellite broadcast ephemeris time series data;
[0085] A satellite health status parameter sequence in the Beidou satellite broadcast ephemeris time series data is obtained, and a sub-time interval that meets preset conditions is identified to further narrow the range of the time interval.
[0086] The preset conditions include two aspects: one is the time interval in which the satellite health status parameter is 0, and the other is that the continuous duration of the corresponding time interval is at least 4 hours.
[0087] Thus, a sub-time interval in which the satellite health status parameter is 0 and the continuous duration is at least 4 hours is extracted.
[0088] Finally, execute step S106, and extract all sub-time intervals obtained through the above steps S101-S105, that is, the orbital maneuvering time intervals in which the determined Beidou satellite has performed orbital maneuvers and the corresponding orbital maneuvering action affects the broadcast ephemeris of the corresponding Beidou satellite.
[0089] It can be understood that all sub-time intervals contained in the orbital maneuvering time interval are the maneuvering periods that affect the Beidou satellite broadcast ephemeris. During this orbital maneuvering time interval, the space signal availability of the Beidou satellite will be affected.
[0090] In this way, the embodiments of the present application can accurately, quickly and easily determine the time period when the orbital maneuver affects the Beidou satellite space signal, and can provide data support for various applications such as positioning, timing, and scientific research using Beidou satellites. It is convenient for various institutions to verify the availability performance of the Beidou satellite space signal during the use period, and can improve the efficiency of the use of Beidou satellites.
[0091] The following are device embodiments of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.
[0092] See next Figure 2, is a schematic diagram of the structure of a Beidou satellite orbit maneuver detection device provided by an exemplary embodiment of the present application. The device can be implemented as all or part of a terminal through software, hardware, or a combination of both, and can also be integrated on a server as an independent module. A Beidou satellite orbit maneuver detection device in an embodiment of the present application can be applied to a terminal or a cloud. The device 20 includes a data acquisition unit 201, a first data processing unit 202, and a second data processing unit 203, wherein:
[0093] The data acquisition unit 201 is used to acquire the precise ephemeris historical data of the target Beidou satellite during the period to be detected;
[0094] The first data processing unit 202 is used to determine all time intervals in the precise ephemeris historical data that lack precise ephemeris data and whose continuous duration is at least a first preset duration;
[0095] The first data processing unit 202 is further configured to obtain, for each of the time intervals, the nearest TLE ephemeris published before the corresponding time interval, and obtain the predicted Beidou satellite orbit data with a continuous duration of a second preset duration based on the TLE ephemeris and the SDP4 model forecast;
[0096] The first data processing unit 202 is further used to compare the predicted Beidou satellite orbit data with the corresponding precise ephemeris orbit data, and determine the time interval where the orbit maneuver exists according to the comparison result;
[0097] The second data processing unit 203 is used to determine, according to the broadcast ephemeris parameters in the time interval with orbit maneuvers, a sub-time interval in which the satellite health status parameter is 0 and the continuous duration is at least a third preset duration;
[0098] The second data processing unit 203 is further configured to output an orbital maneuvering time interval that affects the broadcast ephemeris of the target BeiDou satellite based on all sub-time intervals.
[0099] It should be noted that when the device 20 provided in the above embodiment performs a Beidou satellite orbit maneuver detection method, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device provided in the above embodiment and a Beidou satellite orbit maneuver detection method embodiment belong to the same concept, and its implementation process is detailed in the method embodiment, which will not be repeated here.
[0100] An embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the above-mentioned method embodiments when executing the program.
[0101] See also Figure 3 , which is a structural block diagram of an electronic device provided in an embodiment of the present application.
[0102] like Figure 3 As shown, the electronic device 300 includes: a processor 301 and a memory 302 .
[0103] In the embodiment of the present application, the processor 301 is the control center of the computer system, which can be a processor of a physical machine or a processor of a virtual machine. The processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 301 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array).
[0104] The processor 301 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also called a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state.
[0105] The memory 302 may include one or more computer-readable storage media, which may be non-transitory. The memory 302 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments of the present application, the non-transitory computer-readable storage medium in the memory 302 is used to store at least one instruction, which is used to be executed by the processor 301 to implement the method in the embodiment of the present application.
[0106] In some embodiments, the electronic device 300 further includes: a peripheral device interface 303 and at least one peripheral device 304. The processor 301, the memory 302 and the peripheral device interface 303 can be connected via a bus or a signal line. Each peripheral device 304 can be connected to the peripheral device interface 303 via a bus, a signal line or a circuit board. Specifically, the peripheral device 304 includes: a display screen, a camera and an audio circuit. The peripheral device interface 303 can be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 301 and the memory 302.
[0107] In some embodiments of the present application, the processor 301, the memory 302, and the peripheral device interface 303 are integrated on the same chip or circuit board; in some other embodiments of the present application, any one or two of the processor 301, the memory 302, and the peripheral device interface 303 can be implemented on a separate chip or circuit board. This embodiment of the present application does not specifically limit this.
[0108] The electronic device structure block diagram shown in the embodiment of the present application does not constitute a limitation on the electronic device 300. The electronic device 300 may include more or fewer components than shown in the figure, or combine certain components, or adopt a different component arrangement.
[0109] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method of any of the above embodiments are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.
[0110] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution can be essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment.
[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims
1. A Beidou satellite orbit maneuver detection method, characterized in that: include: Obtain the precise historical ephemeris data of the target Beidou satellite during the period to be detected; Determine all time intervals in the precise ephemeris historical data that lack precise ephemeris data and have a continuous duration of at least a first preset duration; For each of the time intervals, respectively obtain the nearest TLE ephemeris published before the corresponding time interval, and obtain the predicted Beidou satellite orbit data with a continuous duration of a second preset duration based on the TLE ephemeris and the SDP4 model forecast; Comparing the predicted BeiDou satellite orbit data with the corresponding precise ephemeris orbit data, and determining a time interval where orbit maneuvers exist according to the comparison result; Determine, based on the broadcast ephemeris parameters in the time interval where the orbit maneuver occurs, a sub-time interval in which the satellite health status parameter is 0 and the continuous duration is at least a third preset duration; An orbital maneuvering time interval affecting the broadcast ephemeris of the target BeiDou satellite is output based on all the sub-time intervals.
2. The Beidou satellite orbit maneuver detection method according to claim 1, characterized in that: Get the target Beidou satellite in the detection period [t1,t n ]’s precise historical ephemeris data; The step of determining all time intervals in the precise ephemeris historical data where precise ephemeris data is missing and the continuous duration is at least a first preset duration, comprises: Identify the time period to be detected [t1,t n Output the time interval sequence for all time intervals that lack precise ephemeris data and have a continuous duration of at least 24 hours Where m is the number of identified time intervals, t i Indicates the starting time of each time interval, t j Indicates the end time of each time interval.
3. The Beidou satellite orbit maneuver detection method according to claim 2, characterized in that: For each of the time intervals, respectively obtaining the nearest TLE ephemeris published before the corresponding time interval, and obtaining the predicted Beidou satellite orbit data with a continuous duration of a second preset duration based on the TLE ephemeris and the SDP4 model forecast, including: For each time interval Get the data published in the corresponding time interval The starting time The previous nearest TLE ephemeris; Input the TLE ephemeris into the SDP4 model to obtain the predicted Beidou satellite orbit data with a continuous duration of 30 days predicted by the SDP4 model; Among them, the reference time of the TLE ephemeris is used as the starting time of the predicted Beidou satellite orbit with a continuous duration of 30 days.
4. The Beidou satellite orbit maneuver detection method according to claim 3, characterized in that: The comparing the predicted Beidou satellite orbit data with the corresponding precise ephemeris orbit data comprises: Extracting the predicted Beidou satellite orbit for the 30th day from the predicted Beidou satellite orbit data, and comparing the predicted Beidou satellite orbit with the precise orbit at the corresponding time in the precise ephemeris orbit data; Output the orbit prediction error of the predicted Beidou satellite orbit relative to the precise orbit.
5. The Beidou satellite orbit maneuver detection method according to claim 4, characterized in that: Determining the time interval where the orbital maneuver exists according to the comparison result includes: If the orbit prediction error of the time interval is greater than or equal to 100 km, the time interval is determined to be the time interval where orbit maneuvers occur. Otherwise, it is determined that there is no orbital maneuver within the time interval, and the time interval is eliminated; Wherein, k is the number of time intervals in which orbital maneuvers occur.
6. The Beidou satellite orbit maneuver detection method according to claim 3, characterized in that: The determining, based on the broadcast ephemeris parameters in the time interval where the orbital maneuver exists, that the satellite health status parameter is 0 and the continuous duration is at least a third preset duration, comprises: For each time interval in which orbital maneuvers occur, construct corresponding Beidou satellite broadcast ephemeris time series data; A satellite health status parameter sequence in the Beidou satellite broadcast ephemeris time series data is obtained, and a sub-time interval in which the satellite health status parameter is 0 and the continuous duration is at least 4 hours is extracted.
7. A Beidou satellite orbit maneuver detection device, characterized in that: include: A data acquisition unit, used to acquire precise historical ephemeris data of the target Beidou satellite during the period to be detected; A first data processing unit is used to determine all time intervals in the precise ephemeris historical data that lack precise ephemeris data and whose continuous duration is at least a first preset duration; The first data processing unit is further used to obtain the nearest TLE ephemeris published before the corresponding time interval for each time interval, and obtain the predicted Beidou satellite orbit data with a continuous duration of a second preset duration based on the TLE ephemeris and the SDP4 model forecast; The first data processing unit is further used to compare the predicted Beidou satellite orbit data with the corresponding precise ephemeris orbit data, and determine the time interval where the orbit maneuver exists according to the comparison result; The second data processing unit is used to determine, according to the broadcast ephemeris parameters in the time interval where the orbit maneuver exists, a sub-time interval in which the satellite health status parameter is 0 and the continuous duration is at least a third preset duration; The second data processing unit is further configured to output an orbital maneuvering time interval that affects the broadcast ephemeris of the target BeiDou satellite based on all sub-time intervals.
8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the method according to any one of claims 1 to 6 are implemented.
9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.