Autonomous orbit determination method and device suitable for high-orbit satellite periodic maneuver error recovery

Abstract

The invention provides an autonomous orbit determination method, device and equipment suitable for high-orbit satellite periodic maneuver error recovery and a medium, and the method comprises the steps: obtaining the priori clock correction information of an on-orbit service satellite, and employing polynomial fitting to forecast the clock correction of an observation time period through the priori clock correction information, and obtaining the clock correction forecast information; performing one-way observation on the on-orbit service satellite based on a one-way inter-satellite link established between the navigation satellite and the on-orbit service satellite to obtain observation data; the clock error forecast information and the observation data are analyzed, an initial speed error is determined, and the initial speed error is rapidly compressed; and under the condition that the initial speed error after compression meets a preset condition, switching the one-way inter-satellite link into a two-way inter-satellite link, so that the navigation satellite and the on-orbit service satellite carry out two-way observation to obtain a two-way observed quantity, and orbit determination is carried out on the on-orbit service satellite according to the two-way observed quantity.

Description

Technical Field

[0001] The present disclosure relates to the field of navigation, guidance, and control of high-orbit space in-orbit service satellites, and particularly to an autonomous orbit determination method, device, equipment, and medium applicable to error recovery of high-orbit satellite periodic maneuvers. Background Art

[0002] Currently, many high-value satellites operate in high-orbit space. To achieve health status monitoring and anomaly analysis of high-value satellites, in-orbit service tasks including near-field reconnaissance have received attention. In-orbit service satellites are tasked with continuously collecting and updating the operating status information of high-value satellites. When performing tasks, in-orbit service satellites sometimes need to approach abnormal satellites, avoid collision risks through periodic orbit maneuvers, and adjust to a better position to collect information, thereby assisting the ground control system to accurately determine the cause of the failure. Among them, stable and high-precision autonomous orbit determination can effectively reduce the uncertainty of the navigation, guidance, and control system of in-orbit service satellites and optimize the task execution effect. In the prior art, multiple inter-satellite link (ISL) observation data can be used to estimate the prior orbit and clock error parameters through polynomial fitting methods to solve the problem of missing prior data in the reduction stage during the orbit determination process, thereby completing stable and high-precision autonomous orbit determination.

[0003] However, the parameter estimation of prior information by polynomial fitting completely depends on the observation data during the estimation process, resulting in a large demand for the amount of observation data. This not only makes the observation time longer but also consumes more link resources, making it difficult to meet the requirements of the actual task for orbit determination efficiency. Summary of the Invention

[0004] (I) Technical Problems to be Solved

[0005] In view of the above problems, the present disclosure provides an autonomous orbit determination method, device, equipment, and medium applicable to error recovery of high-orbit satellite periodic maneuvers to at least partially solve the technical problems such as long observation time, large consumption of link resources, and low orbit determination efficiency during the orbit determination process of current in-orbit service satellites.

[0006] (II) Technical Solutions

[0007] On the one hand, the present disclosure provides an autonomous orbit determination method applicable to the error recovery of the periodic maneuver of a geosynchronous satellite, including: obtaining the prior clock bias information of an on-orbit service satellite, and using the prior clock bias information to predict the clock bias during the observation period by polynomial fitting to obtain clock bias prediction information; performing one-way observation on the on-orbit service satellite based on a one-way inter-satellite link established between a navigation satellite and the on-orbit service satellite to obtain observation data; analyzing the clock bias prediction information and the observation data to determine an initial velocity error, and quickly compressing the initial velocity error; in the case where the initial velocity error after compression meets a preset condition, switching the one-way inter-satellite link to a two-way inter-satellite link to enable two-way observation between the navigation satellite and the on-orbit service satellite to obtain two-way observables, and performing orbit determination on the on-orbit service satellite according to the two-way observables.

[0008] According to an embodiment of the present disclosure, the analyzing the clock bias prediction information and the observation data to determine the initial velocity error includes: constructing a state vector of the on-orbit service satellite, where the state vector is used to characterize the orbital dynamic characteristics and external perturbation effects of the on-orbit service satellite; performing time propagation on the state vector based on the predefined orbital dynamic model of the on-orbit service satellite; constructing an observation equation based on the clock bias prediction information and the observation data; using a filtering algorithm, in combination with the time propagation of the state vector and the observation equation, to estimate the initial velocity error.

[0009] According to an embodiment of the present disclosure, the quickly compressing the initial velocity error includes: using the filtering algorithm to perform multiple iterative filtrations on the initial velocity error; when the initial velocity error after filtration does not meet the preset condition, adjusting the parameters of the filtering algorithm or adjusting the orbital dynamic model until the initial velocity error meets the preset condition.

[0010] According to an embodiment of the present disclosure, the switching the one-way inter-satellite link to a two-way inter-satellite link to enable two-way observation between the navigation satellite and the on-orbit service satellite to obtain two-way observables includes: receiving a signal transmitted by the navigation satellite through the on-orbit service satellite to measure a first distance; receiving a signal transmitted by the on-orbit service satellite through the navigation satellite to measure a second distance; reducing the first distance and the second distance to a unified epoch, and obtaining the two-way observables according to the reduced first distance and second distance.

[0011] According to an embodiment of the present disclosure, the performing orbit determination on the on-orbit service satellite according to the two-way observables includes: replacing the observation data with the two-way observables, and adjusting the filtering according to the two-way observables; using the adjusted filtering and the two-way observables to perform orbit determination on the on-orbit service satellite.

[0012] According to an embodiment of the present disclosure, before analyzing the clock error prediction information and the observation data to determine the initial velocity error, it further includes: aligning the time bases of the clock error prediction information and the observation data, and removing outliers or noise data in the observation data.

[0013] According to an embodiment of the present disclosure, the inter-satellite link is a Ka-band inter-satellite link with a time division multiple access system.

[0014] The second aspect of the present disclosure provides an autonomous orbit determination device applicable to high-orbit satellite periodic maneuver error recovery, including: an acquisition module, configured to acquire prior clock error information of an on-orbit service satellite, and use the prior clock error information to predict the clock error during an observation period by polynomial fitting to obtain clock error prediction information; a one-way observation module, configured to perform one-way observation on the on-orbit service satellite based on a one-way inter-satellite link established between a navigation satellite and the on-orbit service satellite to obtain observation data; a compression module, configured to analyze the clock error prediction information and the observation data to determine an initial velocity error, and perform fast compression on the initial velocity error; an orbit determination module, configured to switch the one-way inter-satellite link to a two-way inter-satellite link when the compressed initial velocity error meets a preset condition, enable two-way observation between the navigation satellite and the on-orbit service satellite to obtain two-way observables, and perform orbit determination on the on-orbit service satellite according to the two-way observables.

[0015] The third aspect of the present disclosure provides an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, each step in the autonomous orbit determination method applicable to high-orbit satellite periodic maneuver error recovery is implemented

[0016] The fourth aspect of the present disclosure provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, each step in the autonomous orbit determination method applicable to high-orbit satellite periodic maneuver error recovery is implemented.

[0017] (III) Beneficial effects

[0018] The autonomous orbit determination method, device, equipment, and medium applicable to high-orbit satellite periodic maneuver error recovery provided by the present disclosure utilize the characteristic that the periodic orbit maneuver of an on-orbit service satellite does not affect the clock error, combine prior clock error information, less ISL observation data, and an orbit dynamics model to quickly compress the initial velocity error caused by the orbit maneuver, and convert to two-way ISL observation after meeting the preset condition, that is, the accuracy requirement of the reduction process, thereby improving the convergence speed without sacrificing the orbit determination accuracy. Description of the drawings

[0019] To more fully understand the present disclosure and its advantages, reference will now be made to the following description taken in conjunction with the accompanying drawings, in which:

[0020] Figure 1 A flowchart of an autonomous orbit determination method applicable to high-orbit satellite periodic maneuver error recovery provided by an embodiment of the present disclosure is schematically shown;

[0021] Figure 2 A schematic diagram of an orbit determination result provided by an embodiment of the present disclosure is schematically shown;

[0022] Figure 3 A structural block diagram of an autonomous orbit determination device applicable to high-orbit satellite periodic maneuver error recovery provided by an embodiment of the present disclosure is schematically shown;

[0023] Figure 4 A hardware structure diagram of an electronic device is schematically shown. Detailed implementation manners

[0024] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present disclosure. In the following detailed description, for the sake of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is obvious that one or more embodiments can also be implemented without these specific details. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily obscuring the concepts of the present disclosure.

[0025] The terms used herein are merely for describing specific embodiments and are not intended to limit the present disclosure. The terms "including", "comprising", etc. used herein indicate the presence of the described features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0026] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those of ordinary skill in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0027] Some block diagrams and / or flowcharts are shown in the accompanying drawings. It should be understood that some blocks or combinations of blocks in the block diagrams and / or flowcharts 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, or other programmable data processing devices, so that when executed by the processor, these instructions can create a device for implementing the functions / operations illustrated in these block diagrams and / or flowcharts.

[0028] As Figure 1As shown, the flowchart of the autonomous orbit determination method applicable to the period maneuver error recovery of high-orbit satellites includes S1 to S4.

[0029] In operation S1, obtain the prior clock error information of the on-orbit service satellite, and use the prior clock error information to predict the clock error during the observation period by polynomial fitting to obtain the clock error prediction information.

[0030] Exemplarily, considering that the tasks performed by the on-orbit service satellite u consist of multiple consecutive periods, there are usually orbit maneuvers before the start of each period, resulting in excessive prior orbit errors at the beginning of each period, and periodic error recovery is required. Since the orbit maneuver does not affect the clock error change, the clock error at any time t during the observation period can be predicted by using the prior clock error information and quadratic polynomial fitting. The prediction is as follows:

[0031] (1)

[0032] Where , , are polynomial coefficients, and is the reference time.

[0033] In operation S2, based on the one-way inter-satellite link established between the navigation satellite and the on-orbit service satellite, perform one-way observation on the on-orbit service satellite to obtain the observation data.

[0034] Set up an inter-satellite link (ISL) between the navigation satellite j and the on-orbit service satellite u during a certain period. The observation data of the one-way ISL at the time of the on-orbit service satellite u's clock , that is, the measured value The calculation method is as follows:

[0035] (2)

[0036] Where and are respectively the three-dimensional position coordinates of the on-orbit service satellite u at time and the navigation satellite j at time , and is the transmission time of the signal in space. c is the speed of light, and are respectively the clock errors of the on-orbit service satellite u at time and the navigation satellite j at time is the transmit-end delay of the navigation satellite j, and is the receive-end delay of the on-orbit service satellite u. is the measurement noise.

[0037] In operation S3, the clock error prediction information and the observation data are analyzed to determine an initial velocity error, and the initial velocity error is quickly compressed.

[0038] In operation S4, when the initial velocity error after compression meets the preset conditions, the unidirectional inter-satellite link is switched to a bidirectional inter-satellite link, so that the navigation satellite and the on-orbit service satellite can perform bidirectional observation to obtain a bidirectional observation amount, and the on-orbit service satellite is orbit-determined based on the bidirectional observation amount.

[0039] In some exemplary embodiments, the prior clock error information of the on-orbit service satellite from the on-orbit service satellite of the clock monitoring device of the ground monitoring station or the satellite itself can be obtained first. Then, the on-orbit service satellite that is not affected by the orbital maneuver can be fitted with a polynomial, and a mathematical model can be constructed based on the historical clock error data. The model can approximately describe the trend of the clock error over time. By adjusting the order and coefficient of the polynomial, the fitting curve can be made as close to the actual clock error data as possible, so that the clock error during the observation period can be predicted to obtain the clock error prediction information. After obtaining the clock error prediction information, the clock error prediction information and the observation data of the one-way ISL mode are combined to perform dynamic filtering. In the dynamic filtering process, the clock error prediction information can be used to correct the observation data to eliminate the influence of the clock deviation on the observation results. At the same time, combined with the orbital dynamics model of the satellite (such as the orbital dynamics equation), the state of the satellite (including position, velocity, etc.) is estimated and updated to achieve rapid compression of the initial velocity error. When the error reaches the preset condition, such as being reduced to the order of millimeters per second (mm / s), it can be considered that the accuracy requirements of the reduction process are met. Furthermore, the observation mode can be switched from the unidirectional ISL mode to the bidirectional ISL mode for observation. By using the observation quantity of the bidirectional ISL mode, more accurate dynamic filtering and orbit determination can be performed to achieve subsequent high-precision orbit determination.

[0040] It can be understood that the autonomous orbit determination method for error recovery of periodic maneuvers of high-orbit satellites provided in the embodiments of the present disclosure utilizes the characteristic that periodic orbital maneuvers do not affect clock error information, combines less observation data and orbital dynamics models, and achieves rapid error recovery through dynamic filtering, thereby reducing the demand for the amount of observation data and ultimately improving observation efficiency.

[0041] Based on the above embodiments, in this embodiment, the analysis of the clock error prediction information and the observation data to determine the initial velocity error includes: constructing a state vector of the on-orbit servicing satellite, where the state vector is used to characterize the orbital dynamics characteristics of the on-orbit servicing satellite and the influence of external perturbations; performing time propagation on the state vector based on the predefined orbital dynamics model of the on-orbit servicing satellite; constructing an observation equation based on the clock error prediction information and the observation data; and using a filtering algorithm to estimate the initial velocity error by combining the time propagation of the state vector and the observation equation.

[0042] To comprehensively describe the orbital state of the on-orbit servicing satellite and the various influences it is subject to, a state vector can be constructed. This state vector can include the basic orbital parameters of the satellite (such as position and velocity), and can also include the influence of external perturbation factors (such as the inhomogeneity of the Earth's gravitational field, atmospheric drag, and solar radiation pressure, etc.) on the satellite's orbit, so as to more accurately simulate the actual motion of the satellite in orbit. Then, using the predefined orbital dynamics model of the on-orbit servicing satellite, time propagation can be performed on the state vector to predict the orbital state of the satellite at a future moment. At the same time, an observation equation can be constructed based on the clock error prediction information and the observation data to characterize the relationship between the observation data and the satellite state vector. Finally, by combining the time propagation of the state vector and the observation equation, a filtering algorithm can be used to estimate the initial velocity error. The filtering algorithm gradually approaches the true value of the initial velocity error through continuous iteration and update.

[0043] Optionally, the filtering method is not limited to the traditional Kalman algorithm, and other non-linear filtering methods such as extended Kalman filtering and unscented Kalman filtering can also be used.

[0044] Furthermore, the rapid compression of the initial velocity error includes: using the filtering algorithm to perform multiple iterative filtrations on the initial velocity error; when the initial velocity error after filtration does not meet the preset conditions, adjusting the parameters of the filtering algorithm or adjusting the orbital dynamics model until the initial velocity error meets the preset conditions.

[0045] The initial velocity error can be iteratively filtered multiple times using a filtering algorithm. In each iteration, the filtering algorithm can update the estimated value of the initial velocity error based on the current observed data and the predicted value of the state vector. If the filtered initial velocity error does not meet the preset conditions (such as the error not reaching the mm / s magnitude), the parameters of the filtering algorithm or the orbital dynamics model can be adjusted to improve the filtering accuracy and convergence speed. Through continuous iteration and adjustment, when the filtered initial velocity error meets the preset conditions (such as the error reaching the mm / s magnitude), it can be considered that the initial velocity error has been effectively compressed, and at this time, a more accurate observation mode (such as the two-way ISL mode) can be switched for subsequent high-precision orbit determination.

[0046] Specifically, adjusting the parameters of the filtering algorithm can include changing the update frequency of the filter, adjusting the covariance matrices of the measurement noise and process noise, etc., so that the filter can better adapt to the actual observed data and satellite dynamics characteristics. In addition, adjusting the orbital dynamics model can involve modifying certain parameters in the model, adding or deleting certain perturbation terms, etc., to make the model more accurately reflect the actual motion of the satellite in orbit.

[0047] Exemplarily, the orbital dynamics model of the on-orbit servicing satellite can be defined in the geocentric inertial coordinate system as follows:

[0048] (3)

[0049] where 、 、 are the position, velocity, and acceleration vectors of the satellite respectively, is the geocentric distance of the satellite. is the gravitational constant of the Earth. is the perturbing force, which includes the Earth's non-spherical gravity, third-body gravity, solar radiation pressure, attitude thrust, etc. in the orbit determination model, and p is the perturbing model parameter.

[0050] The extrapolation of the orbit of the on-orbit servicing satellite u can adopt the extended Kalman filtering algorithm. First, define as the state vector of satellite u, where 、 and are the position, velocity, and perturbing force model parameters of satellite u respectively, as follows:

[0051] (4)

[0052] where, is the state function of the orbital dynamics model of the on-orbit servicing satellite, is the ISL observation function between satellite u and navigation satellite j. is the observation value at the k-th moment of the observation point. and are the noises of the state equation and the observation equation respectively. In the of the observation equation in Equation (4), and are obtained from the ISL telegram, while is approximated and substituted by .

[0053] The state vector and the covariance matrix of the on-orbit service satellite are predicted, and the corresponding differential equation is shown in Equation (5).

[0054] (5)

[0055] where is calculated as shown in Equation (6), is the covariance matrix of the noise .

[0056] (6)

[0057] After the prediction is completed, the variable form needs to be unified to adapt to the observation equation, as follows:

[0058] (7)

[0059] where and are the estimated values of and P at the moment respectively, and are the predicted values of and P at the moment for the moment.

[0060] Furthermore, the state vector and covariance matrix at the moment can be estimated to obtain and , and the calculation method is as follows:

[0061] (8)

[0062] where is the Kalman gain, is calculated as shown in Equation (9), is the variance of the noise , and I is the identity matrix.

[0063] (9)

[0064] Fast compression of the initial large error can be achieved through filtering to make the speed estimation value in the middle reach the preset condition, that is, the order of mm / s, so as to meet the startup condition of the subsequent steps.

[0065] Based on the above embodiments, in this embodiment, the switching of the unidirectional inter-satellite link to a bidirectional inter-satellite link to enable the navigation satellite and the on-orbit service satellite to perform two-way observations and obtain two-way observation quantities includes: receiving the signal transmitted by the navigation satellite through the on-orbit service satellite and measuring the first distance; receiving the signal transmitted by the on-orbit service satellite through the navigation satellite and measuring the second distance; reducing the first distance and the second distance to a unified epoch, and obtaining the two-way observation quantity according to the reduced first distance and second distance.

[0066] In the bidirectional inter-satellite link mode, the on-orbit service satellite can receive the signal transmitted by the navigation satellite. The on-orbit service satellite can be equipped with high-precision receiving equipment to capture the signal with a specific frequency and coding transmitted by the navigation satellite. After receiving the signal, the time synchronization equipment and distance measurement algorithm (such as the ranging method based on the signal propagation time) carried on the satellite can be used to measure the first distance from the navigation satellite to the on-orbit service satellite. At the same time, the navigation satellite can also receive the signal transmitted by the on-orbit service satellite. Similarly, the navigation satellite can also measure the second distance from the on-orbit service satellite to the navigation satellite. Since the measurements of the first distance and the second distance may not be completed at the same moment, the two distance values can be reduced to a unified epoch (i.e., the same time point) to obtain accurate two-way observation quantities.

[0067] Exemplarily, the bidirectional inter-satellite link not only measures the first distance but also transmits a signal from the on-orbit service satellite to the navigation satellite and measures the second distance at the moment of the navigation satellite clock . Thereafter, the and obtained from the two observations are reduced to a unified epoch , and then the two-way observation quantity is obtained through Equation (10) .

[0068] (10)

[0069] Where and are the combined delays of the on-orbit service satellite and the navigation satellite respectively, is the measurement noise.

[0070] Further, the orbit determination of the on-orbit service satellite according to the two-way observation data includes: replacing the observation data with the two-way observation data, and adjusting the filtering according to the two-way observation data; using the adjusted filtering and the two-way observation data to perform the orbit determination of the on-orbit service satellite.

[0071] In the subsequent filtering process, the observation quantity in Equation (4) is switched from one-way to two-way, that is, is switched to to achieve high-precision orbit determination in the subsequent process.

[0072] It should be noted that in the reduction process, preset conditions need to be met, such as the estimated speed reaching the order of mm / s. Therefore, the result of step (2) is the prerequisite for starting step (3).

[0073] In the embodiments of the present disclosure, before analyzing the clock error prediction information and the observation data to determine the initial velocity error, it further includes: aligning the time bases of the clock error prediction information and the observation data, and removing the outliers or noise data in the observation data.

[0074] In the embodiments of the present disclosure, precise time synchronization technology can be used, such as time comparison based on atomic clocks or network time protocol (NTP), etc., to align the time bases of the clock error prediction information and the observation data to the same reference system, so as to ensure that in subsequent analysis and processing, the timing relationship of the data is accurate.

[0075] The observation data may contain outliers or noise data caused by various interference factors (such as cosmic rays, equipment failures, etc.). If these data are directly involved in subsequent analysis and processing, it may introduce large errors and affect the accuracy of orbit determination. Therefore, effective data cleaning technology can be used, such as statistical outlier detection algorithms (such as the 3σ principle, box plot method, etc.) or outlier detection models in machine learning, to identify and remove outliers or noise data.

[0076] In the embodiments of the present disclosure, the inter-satellite link is a Ka-band inter-satellite link with a time-division multiple access system.

[0077] In some exemplary embodiments, for a geostationary on-orbit service satellite, it can be regarded as a user satellite, and a Ka-band inter-satellite link with a time-division multiple access system can be established with a medium-earth orbit navigation constellation to achieve precise orbit determination.

[0078] It should be noted that the inter-satellite link adopts the Ka band of the time division multiple access system. The Ka band has the advantages of wide bandwidth, large transmission capacity, strong anti-interference ability, etc., and is suitable for high-speed data transmission between satellites. At the same time, the time division multiple access system allows multiple satellites to share channel resources in the same frequency band through time division, thereby improving the spectrum utilization rate and system capacity.

[0079] Embodiment 1

[0080] Figure 2 A schematic diagram showing the orbit determination result provided by the embodiment of the present disclosure is schematically shown.

[0081] As Figure 2 shown in the calculation example, by setting a large initial deviation in the calculation example to verify the robustness of the method, that is, setting the triaxial position deviation to conform to the Gaussian distribution of (0, 300m) respectively, and the triaxial velocity deviation to conform to the Gaussian distribution of (0, 3m / s) respectively. In the satellite selection strategy, random satellite selection that can disperse observations through multiple different links and has an excellent relative geometric relationship is adopted, that is, one satellite is randomly selected with equal weight from the available satellites at each observation moment. Using the Monte Carlo method, with a measurement standard deviation of 0.3m, 100 repeated experiments are carried out. The average error of the method provided by the embodiment of the present disclosure is better than 10m after 7 observations, better than 1m after 11 observations, and the error oscillation amplitude after convergence can be basically maintained within 1m. It can be seen that the autonomous orbit determination method applicable to the periodic maneuver error recovery of geostationary satellites provided by the embodiment of the present disclosure can not only meet the high-precision requirements, but also reduce the number of observables required to meet the orbit determination requirements from at least 15 times to an average of 11 times, and the observation efficiency is significantly improved.

[0082] In the prior art, due to the limitation of the number of parameters to be estimated, the polynomial fitting method requires at least 15 observations to solve the orbit information. The embodiment of the present disclosure comprehensively utilizes the prior clock error information and the orbit dynamics model, improves the convergence speed without sacrificing the orbit determination accuracy, reduces the number of observables required to meet the orbit determination requirements from at least 15 times to an average of 11 times, and the observation efficiency is improved by about 26.7%.

[0083] Figure 3 A structural block diagram of an autonomous orbit determination device applicable to the periodic maneuver error recovery of geostationary satellites provided by the embodiment of the present disclosure is schematically shown.

[0084] As Figure 3 shown, the autonomous orbit determination device 300 applicable to the periodic maneuver error recovery of geostationary satellites in this embodiment includes an acquisition module 301, a one-way observation module 302, a compression module 303, and an orbit determination module 304.

[0085] The acquisition module 301 is used to acquire the prior clock error information of the on-orbit service satellite, and use the prior clock error information to predict the clock error during the observation period by polynomial fitting to obtain the clock error prediction information.

[0086] The unidirectional observation module 302 is used to perform unidirectional observation on the on-orbit service satellite based on the unidirectional inter-satellite link established between the navigation satellite and the on-orbit service satellite to obtain observation data.

[0087] The compression module 303 is used to analyze the clock error prediction information and the observation data, determine the initial velocity error, and perform fast compression on the initial velocity error.

[0088] The orbit determination module 304 is used to switch the unidirectional inter-satellite link to a bidirectional inter-satellite link when the compressed initial velocity error meets the preset condition, enable the navigation satellite and the on-orbit service satellite to perform bidirectional observation to obtain bidirectional observables, and perform orbit determination on the on-orbit service satellite according to the bidirectional observables.

[0089] It can be understood that the acquisition module 301, the unidirectional observation module 302, the compression module 303, and the orbit determination module 304 can be combined and implemented in one module, or any one of them can be split into multiple modules. Or, at least part of the functions of one or more of these modules can be combined with at least part of the functions of other modules and implemented in one module. According to an embodiment of the present disclosure, at least one of the acquisition module 301, the unidirectional observation module 302, the compression module 303, and the orbit determination module 304 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on chip, a system on substrate, a system on package, an application specific integrated circuit (ASIC), or can be implemented in any other reasonable way of integrating or packaging circuits, etc., in hardware or firmware, or implemented in an appropriate combination of software, hardware, and firmware. Or, at least one of the acquisition module 301, the unidirectional observation module 302, the compression module 303, and the orbit determination module 304 can be at least partially implemented as a computer program module, and when the program is run by a computer, it can execute the functions of the corresponding module.

[0090] Figure 4 Schematically shows a hardware structure diagram of an electronic device provided by an embodiment of the present disclosure.

[0091] As Figure 4 shown, the electronic device described in this embodiment includes: The electronic device 400 includes a processor 410 and a computer-readable storage medium 420. The electronic device 400 can execute the method described above with reference to Figure 2 to implement the detection of specific operations.

[0092] Specifically, the processor 410 may include, for example, a general-purpose microprocessor, an instruction set processor, and / or a related chipset, and / or a dedicated microprocessor (e.g., an application-specific integrated circuit (ASIC)), and so on. The processor 410 may also include on-board memory for caching purposes. The processor 410 may be a single processing unit or multiple processing units for performing different actions of the method flow according to the embodiments of the present disclosure described with reference to Figure 2 the description.

[0093] The computer-readable storage medium 420 may be, for example, any medium capable of containing, storing, transmitting, propagating, or transporting instructions. For example, the readable storage medium may include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, components, or propagation media. Specific examples of the readable storage medium include: magnetic storage devices, such as magnetic tapes or hard disk drives (HDDs); optical storage devices, such as compact discs (CD-ROMs); memories, such as random access memories (RAMs) or flash memories; and / or wired / wireless communication links.

[0094] The computer-readable storage medium 420 may include a computer program 421, and the computer program 421 may include code / computer-executable instructions, which, when executed by the processor 410, cause the processor 410 to execute, for example, the method flow described above in conjunction with Figure 2 the description and any variations thereof.

[0095] The computer program 421 may be configured to have computer program code including, for example, computer program modules. For example, in an exemplary embodiment, the code in the computer program 421 may include one or more program modules, such as module 421A, module 421B,.... It should be noted that the way of dividing the modules and the number of modules are not fixed, and those skilled in the art may use appropriate program modules or combinations of program modules according to the actual situation. When these combinations of program modules are executed by the processor 410, the processor 410 may execute, for example, the method flow described above in conjunction with Figure 2 the description and any variations thereof.

[0096] According to the embodiments of the present disclosure, at least one of the acquisition module 301, the one-way observation module 302, the compression module 303, and the orbit determination module 304 may be implemented as a computer program module described with reference to Figure 4 the description, and when executed by the processor 410, may implement the corresponding operations described above.

[0097] The present disclosure also provides a computer-readable medium, which may be included in the device / device / system described in the above embodiments; or may exist separately without being assembled into the device / device / system. The above computer-readable medium carries one or more programs, and when the one or more programs are executed, the method according to the embodiments of the present disclosure is implemented.

[0098] Those skilled in the art can understand that the features described in the various embodiments of the present disclosure can be combined and / or combined in various ways, even if such combinations and / or combinations are not explicitly described in the present disclosure. In particular, without departing from the spirit and teachings of the present disclosure, the features described in the various embodiments of the present disclosure can be combined and / or combined in various ways. All such combinations and / or combinations fall within the scope of the present disclosure.

[0099] The specific embodiments described above further elaborate on the purpose, technical solution, and beneficial effects of the present disclosure. It should be understood that the above are only specific embodiments of the present disclosure and are not used to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. An autonomous orbit determination method suitable for periodic maneuver error recovery of high-orbit satellites, characterized in that: include: Acquire a priori clock error information of the on-orbit service satellite, and use the a priori clock error information to predict the clock error during the observation period by polynomial fitting to obtain clock error prediction information; Based on a one-way inter-satellite link established between the navigation satellite and the on-orbit service satellite, one-way observation is performed on the on-orbit service satellite to obtain observation data; Analyzing the clock error prediction information and the observation data to determine an initial velocity error, and quickly compressing the initial velocity error; When the initial velocity error after compression meets the preset conditions, the unidirectional inter-satellite link is switched to a bidirectional inter-satellite link, so that the navigation satellite and the on-orbit service satellite can perform bidirectional observation to obtain a bidirectional observation amount, and the on-orbit service satellite is orbit-determined based on the bidirectional observation amount.

2. The method according to claim 1, characterized in that: The analyzing the clock error prediction information and the observation data to determine the initial velocity error comprises: Constructing a state vector of the on-orbit servicing satellite, wherein the state vector is used to characterize the orbital dynamics characteristics and external perturbation effects of the on-orbit servicing satellite; Based on a predefined orbital dynamics model of the on-orbit servicing satellite, time-propagating the state vector; constructing an observation equation based on the clock error prediction information and the observation data; The initial velocity error is estimated by utilizing a filtering algorithm in combination with the time propagation of the state vector and the observation equation.

3. The method according to claim 2, characterized in that The rapidly compressing the initial velocity error comprises: Using the filtering algorithm, performing multiple iterative filtering on the initial velocity error; When the initial velocity error after filtering does not meet the preset condition, the parameters of the filtering algorithm are adjusted or the track dynamics model is adjusted until the initial velocity error meets the preset condition.

4. The method according to claim 1, characterized in that: The switching of the unidirectional intersatellite link to a bidirectional intersatellite link so that the navigation satellite and the on-orbit service satellite perform bidirectional observation to obtain a bidirectional observation amount comprises: Receiving a signal transmitted by the navigation satellite through the on-orbit service satellite, and measuring and obtaining a first distance; Receiving, by means of the navigation satellite, a signal transmitted by the on-orbit service satellite, and measuring and obtaining a second distance; The first distance and the second distance are converted to a unified epoch, and the bidirectional observation value is obtained according to the converted first distance and the second distance.

5. The method according to claim 3, characterized in that: Determining the orbit of the on-orbit service satellite according to the bidirectional observation amount comprises: Replacing the observed data with a bidirectional observation amount, and adjusting the filtering according to the bidirectional observation amount; The adjusted filtering and the bidirectional observation amount are used to perform orbit determination of the on-orbit service satellite.

6. The method according to claim 1, characterized in that Before analyzing the clock error prediction information and the observation data to determine the initial velocity error, the method further includes: The clock error forecast information is time-base aligned with the observation data, and outliers or noise data in the observation data are removed.

7. The method according to claim 1, characterized in that The intersatellite link is a Ka-band intersatellite link of a time division multiple access system.

8. An autonomous orbit determination device suitable for periodic maneuver error recovery of high-orbit satellites, characterized in that: include: An acquisition module is used to acquire a priori clock error information of the on-orbit service satellite, and use the a priori clock error information to predict the clock error during the observation period by polynomial fitting to obtain clock error prediction information; A one-way observation module, used to perform one-way observation on the on-orbit service satellite based on a one-way inter-satellite link established between the navigation satellite and the on-orbit service satellite to obtain observation data; A compression module, used for analyzing the clock error prediction information and the observation data, determining an initial velocity error, and quickly compressing the initial velocity error; The orbit determination module is used to switch the unidirectional inter-satellite link to a bidirectional inter-satellite link when the initial velocity error after compression meets the preset conditions, so that the navigation satellite and the on-orbit service satellite can perform bidirectional observation to obtain a bidirectional observation amount, and determine the orbit of the on-orbit service satellite based on the bidirectional observation amount.

9. 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 computer program, each step of the autonomous orbit determination method for periodic maneuver error recovery of a high-orbit satellite as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, each step of the autonomous orbit determination method for periodic maneuver error recovery of a high-orbit satellite as described in any one of claims 1 to 7 is implemented.

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