Method and device for determining orbit of lunar satellite based on radio and laser ranging

Abstract

The invention discloses a lunar satellite orbit determination method and device based on radio and laser ranging, and relates to the technical field of lunar satellite orbit calculation, and the method comprises the steps: obtaining observation data of a radio tracking station and a laser station; establishing a high-precision kinetic model of the lunar satellite; establishing a lunar satellite radio and laser ranging mathematical model, and processing observation data according to an observation equation to obtain a kinetic parameter resolving value of the satellite at the initial orbit determination moment; and substituting the kinetic parameter resolving value into the satellite shot motion equation, and resolving to obtain an orbit determination result of the lunar satellite. According to the method, radio ranging and laser ranging are combined for orbit determination, precise orbit determination of the lunar satellite is achieved, compared with a traditional orbit determination mode, the precision and reliability are greatly improved, the requirements for the arrangement number and geometric distribution of ground stations are reduced, and the measurement and control pressure of existing ground stations is relieved.

Description

Technical Field

[0001] The present invention relates to the technical field of lunar satellite orbit calculation, and in particular to a lunar satellite orbit determination method and device based on radio and laser ranging. Background Art

[0002] In lunar exploration missions, precise orbit determination of lunar satellites is one of the key factors to ensure the success of the mission. At present, the traditional lunar satellite orbit determination technology is ground-based radio observation technology, including S / X ranging and velocity measurement and very long baseline interferometry (VLBI) measurement technology, which has been fully applied in lunar exploration projects at home and abroad. However, the accuracy of radio orbit determination technology is limited, and it has limitations in lunar exploration missions with high precision requirements.

[0003] Lunar laser ranging is currently the most accurate method for measuring the distance between the Earth and the Moon. Its high precision and long distance characteristics have attracted more and more attention in the orbit determination of lunar satellites. However, compared with near-Earth satellites and corner reflectors on the lunar surface, the initial orbit accuracy of lunar satellites is low, which makes it difficult for lasers to align and search for satellites. At present, this method has not been applied to the orbit determination of lunar satellites. In addition, laser ranging is greatly affected by weather, and the amount of effective data obtained is small, so it cannot be used alone for orbit determination of lunar satellites. A single radio or laser ranging technology may still be affected by multiple factors in a complex space environment. Therefore, the method of combining radio ranging and laser ranging can comprehensively utilize the advantages of both and improve the accuracy and reliability of orbit determination of lunar satellites.

[0004] The Chinese patent application with publication number CN103363994A proposes a satellite precise orbit determination technology based only on radio carrier phase observation, and designs a technical solution for simultaneously precisely tracking multiple space targets based only on carrier observation data of ground monitoring equipment driven by atomic frequency standards. However, it only uses a single measurement method, and the orbit determination accuracy is low.

[0005] The Chinese patent application with publication number CN117848354A proposes a device and method for multi-modal information fusion photoelectric detection positioning and orbit determination of space targets, which uses laser and optical imaging methods to locate space targets. However, it uses optical imaging to obtain two-dimensional position information of the target, which makes it difficult for the telescope to track when the satellite is far away. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a method and device for determining the orbit of a lunar satellite based on radio and laser ranging, so as to improve the accuracy and reliability of the determination of the orbit of a lunar satellite.

[0007] In order to achieve the above object, the present invention adopts the following technical scheme:

[0008] A method for determining the orbit of a lunar satellite based on radio and laser ranging comprises the following steps:

[0009] Step 1: Obtain observation data from radio tracking stations and laser stations;

[0010] Step 2: Establish a high-precision dynamic model of the lunar satellite;

[0011] Step 3: Establish mathematical models of radio and laser ranging of lunar satellites;

[0012] Step 4: Process the observation data according to the high-precision dynamics model of the lunar satellite and the mathematical model of radio and laser ranging of the lunar satellite to obtain the solution value of the dynamic parameters of the satellite at the initial time of orbit determination;

[0013] Step 5: Substitute the calculated values ​​of the satellite's dynamic parameters at the initial moment of orbit determination into the satellite's motion equation to obtain the orbit determination result of the lunar satellite.

[0014] Furthermore, the position and velocity of the main celestial bodies in the solar system are obtained according to the JPL ephemeris;

[0015] Furthermore, the observation equation is about the actual state parameters of the lunar satellite and the state parameters of the corresponding preset orbit;

[0016] Further, data preprocessing is performed on the radio ranging distance information to generate a data file in a format required for orbit calculation;

[0017] Furthermore, the data preprocessing includes: satellite transmission delay and reception delay, satellite-ground and ground-satellite clock time difference, ionospheric delay correction, tropospheric delay correction, relativistic delay correction, Sagnac effect correction, and data format conversion;

[0018] Further, data preprocessing is performed on the laser ranging distance information to generate a data file in a format required for orbit calculation;

[0019] Furthermore, the data preprocessing includes: system delay correction, tropospheric refraction correction, relativistic delay correction, earth tide correction, corner reflector centroid offset correction, time and space correction, and data format conversion;

[0020] Furthermore, the dynamic parameter solution of the satellite at the initial time of orbit determination is obtained based on the processed observation data and the satellite dynamic equation;

[0021] Utilizing the orbit measurement data and combining with satellite dynamic equations, the satellite initial orbit is calculated based on the Laplace method;

[0022] In the orbit determination arc, the observation values ​​are used to determine the orbit and the orbit parameters of each satellite are obtained by calculation;

[0023] Calculate the theoretical observation value of the observation value according to the solution parameter;

[0024] Residuals are calculated based on the observed values ​​and the theoretical observed values, and observed values ​​whose residuals exceed a threshold are eliminated.

[0025] Furthermore, within the orbit determination arc, the orbit is determined using the observation values ​​to obtain solution parameters, including:

[0026] Using the initial orbit information to perform orbital integration, a reference orbit and state transfer matrix sampled at certain time intervals are obtained;

[0027] Linearizing the observation equation according to the reference orbit and the state transfer matrix;

[0028] The linear optimal estimation method is used to solve the observation equation after linearization to obtain the solution parameters.

[0029] Furthermore, the observation values ​​include radio observation data and laser observation data; and the theoretical observation values ​​include theoretical observation values ​​of radio observation data and laser observation data.

[0030] The embodiment of the present invention further provides a device for determining the orbit of a lunar satellite based on radio and laser ranging, comprising the following modules:

[0031] Observation data acquisition module, which acquires observation data from radio tracking stations and laser stations;

[0032] Mechanical model building module, to build a high-precision dynamic model of the lunar satellite;

[0033] Mathematical model building module, which builds mathematical models of radio and laser ranging of lunar satellites;

[0034] The calculation module processes the observation data according to the mathematical model of radio and laser ranging of lunar satellites to obtain the solution value of the satellite's dynamic parameters at the initial moment of orbit determination;

[0035] The result acquisition module substitutes the calculated values ​​of the satellite's dynamic parameters at the initial moment of orbit determination into the satellite's motion equation to obtain the orbit determination result of the lunar satellite.

[0036] An embodiment of the present invention also provides an electronic device, including 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 above-mentioned method for determining the orbit of a lunar satellite based on radio and laser ranging are implemented.

[0037] An embodiment of the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned method for determining the orbit of a lunar satellite based on radio and laser ranging are implemented.

[0038] The beneficial effects of the present invention are:

[0039] 1. The present invention uses radio ranging and laser ranging to jointly determine the orbit, realizing precise orbit determination of lunar satellites. Compared with traditional orbit determination methods, the accuracy and reliability are greatly improved;

[0040] 2. The present invention utilizes radio ranging and laser ranging for joint observation, which reduces the requirements on the number and geometric distribution of ground stations and alleviates the measurement and control pressure of existing ground stations. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A flowchart of a method for determining a lunar satellite orbit based on radio and laser ranging according to an embodiment of the present invention;

[0042] Figure 2 is a flow chart of data preprocessing of the present invention;

[0043] Figure 3 A flow chart of the track improvement process of the present invention. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0045] The purpose of the present invention is to provide a method for determining the orbit of a lunar satellite based on radio and laser ranging, so as to solve the current problems of low orbit determination accuracy of lunar orbit satellites and limited resources of ground tracking and control stations.

[0046] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0047] Precise orbit determination is the process of fitting satellite orbits using precise dynamics using various types of observation data containing observation errors. Obviously, the accuracy of orbit determination calculations is largely limited by the accuracy of measurement data, the accuracy of observation models, and the accuracy of dynamic models, in addition to observation geometry. Precise orbit determination involves the processing of various types of observation data, including precise observation modeling and correction of various measurement errors. Satellites of different orbit types are subject to different dynamic influences, so the dynamic models considered in orbit determination calculations are also different. In addition, both the dynamic model and the observation model have certain errors, especially the dynamic model part. In summary, in the process of orbit calculation, it is necessary to select a suitable mathematical model and optimize the measurement data. This will improve the accuracy of the calculation results.

[0048] like Figure 1 As shown, the method for determining the orbit of a lunar satellite based on radio and laser ranging in an embodiment of the present invention comprises the following steps:

[0049] Step 1: Obtain observation data from the radio tracking station and laser station. Both radio and laser observation data are used as observation data.

[0050] Step 2: Establish a high-precision dynamic model of the lunar satellite:

[0051] For the lunar satellite, the coordinate system is the lunar center inertial coordinate system of epoch (J2000.0), considering the gravitational forces of the sun, moon, earth and other celestial bodies on the lunar satellite, the lunar solid tidal perturbation, the lunar physical libration, solar radiation pressure, jet unloading and high-precision ephemeris, the high-precision dynamic model of the lunar satellite is as follows:

[0052] ;

[0053] In the above formula, the first term on the right side of the acceleration formula (i.e. the following three formulas) is the lunar center gravity model, and the second and third terms are the third body gravity models caused by the sun and the earth.

[0054] The above formula can be simplified as:

[0055] ;

[0056] In the formula, is the state vector of the satellite at time t; for The differential of is the state vector of the state model; are the position and velocity of the lunar satellite in the X, Y, and Z directions respectively; is the system nonlinear continuous state transfer function of the state model; represents the system noise; represents the vector from the center of the moon to the satellite; Represents the vector from the center of the Earth to the satellite; heliocentric-to-satellite vector; are the gravitational constants of the sun, moon, and earth respectively; is the vector from the heliocenter to the satellite; is the vector from the center of the moon to the center of the earth in the geocentric coordinate system; is the vector from the center of the moon to the center of the sun; is the coordinate of the moon's position in the solar mass center coordinate system; is the coordinate of the earth's position in the geocentric coordinate system; is the coordinate of the sun's position in the sun's mass center coordinate system; are the system noise respectively.

[0057] Step 3: Establish mathematical models of lunar satellite radio ranging and laser ranging:

[0058] The lunar satellite laser ranging observation is the distance from the laser station to the satellite. Assuming the original observation distance is , the observation equation is:

[0059] ;

[0060] in, is the actual distance from the laser station to the satellite, The ranging error caused by the change of station position due to the earth's tides; The distance measurement error caused by the refraction effect of light in the atmosphere; The distance measurement error caused by the relativistic effect of light in the gravitational field; is the deviation of the laser reflection point on the satellite surface from the center of mass; is the system delay error of the station.

[0061] Radio ranging is a two-way distance measurement in a time-division system. The distance measurement value contains the distance and clock difference information between the ground station and the satellite. The observation equation for radio two-way ranging is:

[0062] ;

[0063] in, They are the observation data of uplink and downlink respectively; are the geometric distances from the ground station to the satellite and from the satellite to the ground station at the time of ranging, respectively; They are the sum of the uplink and downlink space signal delay corrections, including ionospheric delay correction, tropospheric delay correction, relativistic delay correction and Sagnac effect correction. They are the transmission and reception delays of satellite and ground equipment respectively; The time difference between the two clock faces is: star-earth, and earth-star; is the random error, c is the speed of light.

[0064] Step 4: Observation data (i.e. Figure 2 Preprocessing of laser ranging / radio ranging data):

[0065] like Figure 2 As shown, the specific steps of preprocessing include:

[0066] Step 4.1 Based on the initial state parameters of the satellite and the high-precision dynamic model of the lunar satellite, the satellite orbit is integrated using the numerical integration method to generate theoretical orbit prediction data (i.e. Figure 2 space-time conversion);

[0067] Step 4.2: Process the observation data according to the observation equation and theoretical orbit prediction data, deduct the error term in the data, and obtain the standard point data of satellite observation;

[0068] In laser ranging, the system error is the delay error of the laser ranging system of the ground station; in radio ranging, the system error is the transmission and reception delay between the ground and the satellite and the clock time difference, including (i.e. Figure 2 System delay correction:

[0069] Step 4.2.1 Tropospheric refraction correction: Based on the temperature, humidity and pressure data measured at the measuring station, the tropospheric refraction correction is completed for the satellite ranging and velocity measurement through the atmospheric refraction correction model; and the tropospheric delay correction is performed.

[0070] Step 4.2.2 Relativistic delay correction: Based on the distance from the satellite to each celestial body, calculate the bending of light caused by the gravitational field of the celestial body and complete the relativistic delay correction.

[0071] Step 4.2.3 Earth tide correction: Based on the solid tide, ocean tide, atmospheric load tide generated by the external gravitational force on the Earth, and the parameters of the solid polar tide and ocean polar tide caused by the centrifugal disturbance caused by the rotation of the Earth, the coordinate deformation variables of the ground station are calculated to complete the Earth tide correction.

[0072] Step 4.2.4 Corner reflector centroid offset correction: Complete the centroid offset correction based on the distance from the on-board corner reflector to the satellite centroid.

[0073] Step 4.2.5 Satellite antenna phase center correction: Correct the satellite antenna phase offset;

[0074] Step 4.2.6: Ionospheric delay correction and Sagnac effect correction.

[0075] Step 4.3 selects the initial time of satellite orbit determination, and obtains the solution value of the satellite's dynamic parameters at the initial time of orbit determination based on the standard point data of satellite observation and the high-precision dynamic model of the lunar satellite.

[0076] After that, data format conversion is performed, that is, format conversion is performed after the orbit measurement data is corrected and processed to generate a data file in the format required for orbit calculation.

[0077] Step 5: Calculate the position coordinates of each satellite in the formation, such as Figure 3 As shown, the following steps are included:

[0078] Step 5.1 Use the orbit measurement data to calculate and generate the initial satellite orbit information for orbit improvement (i.e. Figure 3 The initial orbit calculation is performed by combining orbit measurement data with satellite dynamic equations):

[0079] Based on the Laplace method, the satellite initial orbit calculation is completed using radio observation data. The dynamic model used in the initial orbit calculation is the model in step 2, which is suitable for satellites in lunar orbit.

[0080] Step 5.2: Use the initial orbit information to perform orbital integration and calculate the reference orbit and state transfer matrix;

[0081] Step 5.3 Linearize the observation equation according to the reference orbit and state transfer matrix:

[0082] Step 5.4 performs linear optimal estimation on the linearized observation equation to obtain the solution parameters:

[0083] The state differential equation of satellite motion can be expressed as:

[0084] ;

[0085] in, ; and Indicates the state quantity to be estimated; represents the kinetic parameters; Indicates the state quantity to be estimated at the initial moment of the orbit determination arc segment; Indicates the initial time of the orbit determination arc; Indicates the state quantity of the orbit determination arc at the initial moment; Indicates satellite position; Indicates the satellite speed; represents the satellite acceleration; represents other parameters to be estimated in the kinetic model.

[0086] In the above formula In the reference state Expand and remember , after ignoring the higher-order terms, it can be expressed as a linear equation:

[0087] ;

[0088] Among them, the intermediate function ;

[0089] Its solution can be expressed as ;

[0090] Solved ;

[0091] in, represents the state transfer matrix, represents the derivative of the state transfer matrix, Represents the initial value of the state transfer matrix; represents the identity matrix; Indicates the reference state; Indicates the difference between the state to be estimated and the reference state; Indicates time; Represents the derivative of the difference between the state to be estimated and the reference state; express The difference between the state to be estimated and the reference state at each moment.

[0092] Satellite in Observable quantity at time , represents the measurement noise, Indicates that the satellite is The state vector at the moment; Indicates the observation time; Represents observation data The corresponding true value; i represents the i-th data.

[0093] Expand the above formula at the reference state and consider only the first-order terms:

[0094] ;

[0095] in, Indicates the actual value, represents the observed value, represents the observed partial derivative of the observed quantity with respect to the state quantity at the observed epoch, represents the observed partial derivative of the improved epoch state quantity.

[0096] The linear equation can be obtained ;

[0097] in, Indicates the state quantity to be estimated; Represents random error.

[0098] Step 5.5 Calculate the theoretical observation value based on the solution parameters:

[0099] Solution The best estimate of is usually the least squares method for parameter estimation. The weight matrix of the observed quantity is , according to the linear unbiased minimum variance estimation, we can get the estimated value :

[0100] ;

[0101] in, express is the transpose of ; k represents the amount of observation data.

[0102] Step 5.6 calculates the residuals and removes observations whose residuals exceed the threshold:

[0103] Both the state equation and the observation equation are the results of linear approximation. The errors caused by the nonlinear part are solved through continuous iteration, and the observations whose residuals exceed the threshold are eliminated.

[0104] The embodiment of the present invention further provides a device for determining the orbit of a lunar satellite based on radio and laser ranging, comprising the following modules:

[0105] Observation data acquisition module, which acquires observation data from radio tracking stations and laser stations;

[0106] Mechanical model building module, to build a high-precision dynamic model of the lunar satellite;

[0107] Mathematical model building module, which builds mathematical models of radio and laser ranging of lunar satellites;

[0108] The solution module processes the observation data according to the high-precision dynamics model of the lunar satellite and the mathematical model of radio and laser ranging of the lunar satellite to obtain the solution value of the satellite's dynamic parameters at the initial moment of orbit determination;

[0109] The result acquisition module substitutes the calculated values ​​of the satellite's dynamic parameters at the initial moment of orbit determination into the satellite's motion equation to obtain the orbit determination result of the lunar satellite.

[0110] An embodiment of the present invention also provides an electronic device, including 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 above-mentioned method for determining the orbit of a lunar satellite based on radio and laser ranging are implemented.

[0111] An embodiment of the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned method for determining the orbit of a lunar satellite based on radio and laser ranging are implemented.

[0112] It should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes. The solutions in the embodiments of the present invention may be implemented in various computer languages, for example, object-oriented programming language Java and interpreted scripting language JavaScript, etc.

[0113] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0114] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0115] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0116] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0117] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for determining the orbit of a lunar satellite based on radio and laser ranging, characterized in that: The steps include: Step 1: Obtain observation data from radio tracking stations and laser stations; Step 2: Establish a high-precision dynamic model of the lunar satellite; Step 3: Establish mathematical models of radio and laser ranging of lunar satellites; Step 4: Process the observation data according to the high-precision dynamics model of the lunar satellite and the mathematical model of radio and laser ranging of the lunar satellite to obtain the solution value of the dynamic parameters of the satellite at the initial time of orbit determination; Step 5: Substitute the calculated values ​​of the satellite's dynamic parameters at the initial moment of orbit determination into the satellite's motion equation to obtain the orbit determination result of the lunar satellite.

2. The method for determining the orbit of a lunar satellite based on radio and laser ranging according to claim 1, characterized in that: In the step 1, obtaining observation values ​​of radio ranging and laser ranging from ground stations; The inter-satellite ranging test adopts a two-way measurement mode to obtain the ranging distance information between satellites.

3. The method for determining the orbit of a lunar satellite based on radio and laser ranging according to claim 1, characterized in that: In step 2, the high-precision dynamic model of the lunar satellite takes into account the central celestial body gravity model and the third body gravity model caused by the sun and the earth.

4. The method for determining the orbit of a lunar satellite based on radio and laser ranging according to claim 1, characterized in that: The step three comprises: The lunar satellite laser ranging observation equation is constructed as follows: ； in, is the actual distance from the laser station to the satellite, is the original observation distance, The ranging error caused by the change of station position due to the earth's tides; The distance measurement error caused by the refraction effect of light in the atmosphere; The distance measurement error caused by the relativistic effect of light in the gravitational field; is the deviation of the laser reflection point on the satellite surface from the center of mass; is the system delay error of the station.

5. The method for determining the orbit of a lunar satellite based on radio and laser ranging according to claim 4, characterized in that: The step three comprises: The observation equation for radio ranging of lunar satellite is constructed as follows: ； in, They are the observation data of uplink and downlink respectively; are the geometric distances from the ground station to the satellite and from the satellite to the ground station at the time of ranging, respectively; are the sum of uplink space signal delay correction and the sum of downlink space signal delay correction respectively; They are satellite launch, satellite reception delay, ground equipment launch, and ground equipment reception delay; The time difference between the two clock faces is: star-earth, and earth-star; is the random error, and c is the speed of light.

6. The method for determining the orbit of a lunar satellite based on radio and laser ranging according to claim 5, characterized in that: The fourth step comprises: Step 4.1 Based on the initial state parameters of the satellite and the high-precision dynamic model of the lunar satellite, the satellite orbit is integrated using a numerical integration method to generate theoretical orbit prediction data; Step 4.2: Process the observation data according to the observation equation and theoretical orbit prediction data, deduct the error term in the observation data, and obtain the standard point data of satellite observation; Step 4.3 selects the initial time of satellite orbit determination, and obtains the solution value of the satellite's dynamic parameters at the initial time of orbit determination based on the standard point data of satellite observation and the high-precision dynamic model of the lunar satellite.

7. The method for determining the orbit of a lunar satellite based on radio and laser ranging according to claim 6, characterized in that: The step five comprises: Step 5.1: Use the standard point data of the satellite observation in step 4 as the initial state parameters, and combine it with the high-precision dynamic model of the lunar satellite to calculate and generate the initial orbit information of the satellite for orbit improvement; Step 5.2: Based on the high-precision dynamics model of the lunar satellite, the initial orbit information of the satellite is used to perform orbit integration and calculate the reference orbit and state transfer matrix; Step 5.3: Linearize the observation equation according to the reference orbit and state transfer matrix; Step 5.4 performs linear optimal estimation on the linearized observation equation to obtain the solution parameters; Step 5.5 calculates theoretical observation values ​​according to the solution parameters; Step 5.6 calculates the residuals and removes observations whose residuals exceed the threshold.

8. A device for determining the orbit of a lunar satellite based on radio and laser ranging, characterized in that: Includes the following modules: Observation data acquisition module, which acquires observation data from radio tracking stations and laser stations; Mechanical model building module, to build a high-precision dynamic model of the lunar satellite; Mathematical model building module, which builds mathematical models of radio and laser ranging of lunar satellites; The solution module processes the observation data according to the high-precision dynamics model of the lunar satellite and the mathematical model of radio and laser ranging of the lunar satellite to obtain the solution value of the satellite's dynamic parameters at the initial moment of orbit determination; The result acquisition module substitutes the calculated values ​​of the satellite's dynamic parameters at the initial moment of orbit determination into the satellite's motion equation to obtain the orbit determination result of the lunar satellite.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the method for determining the orbit of a lunar satellite based on radio and laser ranging as described in any one of claims 1 to 7 are implemented.

10. 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 for determining the orbit of a lunar satellite based on radio and laser ranging as described in any one of claims 1 to 7 are implemented.

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