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

Abstract

The present disclosure provides an autonomous orbit determination method and device suitable for high-orbit satellite periodic maneuver error recovery, equipment and medium, the method comprising: obtaining prior clock error information of an on-orbit service satellite, and using the prior clock error information, predicting the clock error of the observation period by polynomial fitting to obtain clock error prediction information; based on the one-way inter-satellite link established between the navigation satellite and the on-orbit service satellite, performing one-way observation on the on-orbit service satellite to obtain observation data; analyzing the clock error prediction information and the observation data to determine the initial velocity error, and quickly compressing the initial velocity error; in the case that the compressed initial velocity error meets the preset condition, switching the one-way inter-satellite link to a two-way inter-satellite link, so that the navigation satellite and the on-orbit service satellite perform two-way observation to obtain two-way observation data, and orbit the on-orbit service satellite according to the two-way observation data.

Description

Technical Field

[0001] This disclosure relates to the field of navigation, guidance and control of high-orbit space on-orbit service satellites, specifically to an autonomous orbit determination method, device, equipment and medium suitable for recovering periodic maneuver errors of high-orbit satellites. Background Technology

[0002] Currently, numerous high-value satellites operate in high-orbit space. To monitor the health status and analyze anomalies of these satellites, on-orbit servicing missions, including near-field reconnaissance, have gained attention. On-orbit servicing satellites are responsible for continuously collecting and updating operational status information of high-value satellites. During missions, on-orbit servicing satellites sometimes need to approach anomalous satellites, using periodic orbital maneuvers to avoid collision risks and adjust to better positions to collect information, thereby assisting the ground control system in accurately determining the cause of the malfunction. Stable and high-precision autonomous orbit determination can effectively reduce the uncertainty of the navigation, guidance, and control systems of on-orbit servicing satellites and optimize mission performance. In existing technologies, multiple inter-satellite link (ISL) observation data can be used to estimate prior orbit and clock error parameters through polynomial fitting methods, addressing the problem of missing prior data in the reduction phase of orbit determination, thus achieving stable and high-precision autonomous orbit determination.

[0003] However, estimating parameters based on prior information using polynomial fitting relies entirely on observation data, resulting in a large demand for such data. This not only leads to longer observation times but also consumes more link resources, making it difficult to meet the efficiency requirements of practical missions in orbit determination. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] In view of the above problems, this disclosure provides an autonomous orbit determination method, apparatus, equipment and medium suitable for the recovery of periodic maneuver errors of high-orbit satellites, so as to at least partially solve the technical problems of long observation time, large link resource consumption and low orbit determination efficiency in the current orbit determination process of on-orbit service satellites.

[0006] (II) Technical Solution

[0007] This disclosure provides an autonomous orbit determination method suitable for recovering periodic maneuver errors of high-orbit satellites, comprising: acquiring 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 using polynomial fitting to obtain clock bias prediction information; performing unidirectional observation of 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; analyzing the clock bias prediction information and the observation data to determine the initial velocity error, and rapidly compressing the initial velocity error; and, if the compressed initial velocity error meets preset conditions, switching the one-way inter-satellite link to a two-way inter-satellite link, enabling the navigation satellite and the on-orbit service satellite to perform two-way observations to obtain two-way observations, and determining the orbit of the on-orbit service satellite based on the two-way observations.

[0008] According to embodiments of this disclosure, the step of analyzing 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, the state vector being used to characterize the orbital dynamics characteristics and external perturbation effects of the on-orbit servicing satellite; performing time propagation on the state vector based on a 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 estimating the initial velocity error by using a filtering algorithm, combining the time propagation of the state vector and the observation equation.

[0009] According to an embodiment of this disclosure, the rapid compression of the initial velocity error includes: using the filtering algorithm to perform multiple iterative filtering on the initial velocity error; when the filtered initial velocity error 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.

[0010] According to an embodiment of this disclosure, switching the one-way inter-satellite link to a two-way inter-satellite link, enabling the navigation satellite and the on-orbit service satellite to perform two-way observations and obtain two-way observations, includes: receiving signals transmitted by the navigation satellite through the on-orbit service satellite and measuring a first distance; receiving signals transmitted by the on-orbit service satellite through the navigation satellite and measuring a second distance; reducing the first distance and the second distance to a unified epoch, and obtaining the two-way observations based on the reduced first distance and the second distance.

[0011] According to an embodiment of this disclosure, determining the orbit of the on-orbit service satellite based on the two-way observations includes: replacing the observation data with the two-way observations, and adjusting the filter based on the two-way observations; and determining the orbit of the on-orbit service satellite using the adjusted filter and the two-way observations.

[0012] According to embodiments of this disclosure, before analyzing the clock error prediction information and the observation data to determine the initial velocity error, the method further includes: aligning the clock error prediction information with the observation data using a time reference, and removing outliers or noise data from the observation data.

[0013] According to embodiments of this disclosure, the inter-satellite link is a Ka-band inter-satellite link using a time-division multiple access (TDMA) system.

[0014] The second aspect of this disclosure provides an autonomous orbit determination device suitable for recovering periodic maneuver errors of high-orbit satellites, comprising: an acquisition module for acquiring 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 using polynomial fitting, thereby obtaining clock bias prediction information; a one-way observation module for performing one-way observation of the on-orbit service satellite based on a one-way inter-satellite link established between the navigation satellite and the on-orbit service satellite, thereby obtaining observation data; a compression module for analyzing the clock bias prediction information and the observation data, determining the initial velocity error, and rapidly compressing the initial velocity error; and an orbit determination module for switching the one-way inter-satellite link to a two-way inter-satellite link when the compressed initial velocity error meets preset conditions, enabling the navigation satellite and the on-orbit service satellite to perform two-way observations, obtaining two-way observations, and determining the orbit of the on-orbit service satellite based on the two-way observations.

[0015] A third aspect of this disclosure 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 computer program, it implements the various steps of the autonomous orbit determination method for recovering periodic maneuver errors of high-orbit satellites.

[0016] A fourth aspect of this disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the autonomous orbit determination method for recovering periodic maneuver errors of high-orbit satellites.

[0017] (III) Beneficial Effects

[0018] The autonomous orbit determination method, apparatus, equipment, and medium disclosed herein for recovering periodic maneuver errors of high-orbit satellites utilize the characteristic that periodic orbital maneuvers of on-orbit servicing satellites do not affect clock bias. By combining prior clock bias information, a small amount of ISL observation data, and an orbital dynamics model, the initial velocity error caused by orbital maneuvers is rapidly compressed. After meeting preset conditions, namely the accuracy requirements of the reduction process, it is converted to bidirectional ISL observation, thereby improving the convergence speed without sacrificing orbit determination accuracy. Attached Figure Description

[0019] To gain a more complete understanding of this disclosure and its advantages, reference will now be made to the following description taken in conjunction with the accompanying drawings, wherein:

[0020] Figure 1 A flowchart illustrating an autonomous orbit determination method for recovering periodic maneuver errors of high-orbit satellites, provided in an embodiment of this disclosure, is shown in the schematic diagram.

[0021] Figure 2 A schematic diagram illustrating the orbit determination results provided by an embodiment of this disclosure is shown.

[0022] Figure 3 This schematic diagram illustrates the structure of an autonomous orbit determination device for recovering periodic maneuver errors of high-orbit satellites, as provided in an embodiment of this disclosure.

[0023] Figure 4 The diagram schematically illustrates the hardware structure of an electronic device. Detailed Implementation

[0024] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0025] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated 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 skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0027] The accompanying drawings show some block diagrams and / or flowcharts. It should be understood that some blocks or combinations thereof 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 device, so that when executed by the processor, these instructions can create means for implementing the functions / operations described in these block diagrams and / or flowcharts.

[0028] like Figure 1As shown, the flowchart of the autonomous orbit determination method for recovering periodic maneuver errors of high-orbit satellites includes S1~S4.

[0029] In operation S1, prior clock bias information of the on-orbit service satellite is obtained, and the clock bias during the observation period is predicted by polynomial fitting using the prior clock bias information to obtain clock bias prediction information.

[0030] For example, considering that the mission performed by the on-orbit servicing satellite u consists of multiple consecutive cycles, and that orbital maneuvers typically occur before the start of each cycle, resulting in excessively large prior orbital errors at the beginning of each cycle, periodic error recovery is required. Since orbital maneuvers do not affect clock bias changes, prior clock bias information can be used to fit the clock bias at any time t during the observation period using a quadratic polynomial. The forecast is as follows:

[0031] (1)

[0032] in , , These are polynomial coefficients. This is a 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, one-way observation of the on-orbit service satellite is performed to obtain observation data.

[0034] A navigation satellite j is configured to establish an inter-satellite link (ISL) with an on-orbit service satellite u for a specific time period. The one-way ISL is initiated by the clock of the on-orbit service satellite u. Observational data at a given time, i.e., measured values The calculation method is as follows:

[0035] (2)

[0036] in, and They are Satellite u and always in orbit The three-dimensional position coordinates of navigation satellite j at any given time, and It is the time it takes for the signal to travel through space. c is the speed of light. and They are On-orbit service satellite u and The clock bias of navigation satellite j. It is the delay at the transmitter of navigation satellite J, and This refers to the receiving delay of the on-orbit service satellite u. It measures noise.

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

[0038] In operation S4, if the initial velocity error after compression meets the preset conditions, the one-way inter-satellite link is switched to a two-way inter-satellite link, so that the navigation satellite and the on-orbit service satellite can conduct two-way observations to obtain two-way observations, and the on-orbit service satellite is determined based on the two-way observations.

[0039] In some exemplary embodiments, prior clock bias information of the on-orbit servicing satellites can first be obtained from ground monitoring stations or the satellite's own clock monitoring equipment. Then, polynomial fitting can be performed on the on-orbit servicing satellites unaffected by orbital maneuvers, constructing a mathematical model based on historical clock bias data. This model can approximately describe the trend of clock bias variation over time. By adjusting the order and coefficients of the polynomial, the fitted curve can be made as close as possible to the actual clock bias data, thereby enabling clock bias prediction for the observation period and obtaining clock bias prediction information. After obtaining the clock bias prediction information, dynamic filtering is performed by combining the clock bias prediction information with observation data from the one-way ISL mode. During dynamic filtering, the clock bias prediction information can be used to correct the observation data to eliminate the influence of clock deviation on the observation results. Simultaneously, the satellite's orbital dynamics model (such as orbital dynamics equations) is combined to estimate and update the satellite's state (including position, velocity, etc.) to achieve rapid compression of the initial velocity error. When this error reaches a preset condition, such as being reduced to the millimeter-per-second (mm / s) level, it can be considered to meet the accuracy requirements of the reduction process. Furthermore, the observation mode can be switched from unidirectional ISL mode to bidirectional ISL mode for observation. Using the observations in bidirectional ISL mode, more accurate dynamic filtering and orbit determination can be performed, enabling subsequent high-precision orbit determination.

[0040] It is understood that the autonomous orbit determination method for periodic maneuver error recovery of high-orbit satellites provided in this disclosure utilizes the characteristic that periodic orbit 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 observation data and ultimately improving observation efficiency.

[0041] Based on the above embodiments, in this embodiment, the step of analyzing the clock error prediction information and the observation data to determine the initial velocity error includes: constructing the state vector of the on-orbit service satellite, the state vector being used to characterize the orbital dynamics characteristics and external perturbation effects of the on-orbit service satellite; performing time propagation on the state vector based on a predefined orbital dynamics model of the on-orbit service satellite; constructing an observation equation based on the clock error prediction information and the observation data; and estimating the initial velocity error by using a filtering algorithm, combining the time propagation of the state vector and the observation equation.

[0042] To comprehensively describe the orbital state of a servicing satellite and the various influences it experiences, a state vector can be constructed. This state vector can include the satellite's basic orbital parameters (such as position and velocity) and the effects of external perturbations (such as the inhomogeneity of Earth's gravitational field, atmospheric drag, and solar radiation pressure) on the satellite's orbit, thus more accurately simulating the actual motion of the satellite in orbit. Then, using a predefined orbital dynamics model of the servicing satellite, the state vector can be propagated over time to predict the satellite's orbital state at a future moment. Simultaneously, observation equations can be constructed based on clock error prediction information and observational data to characterize the relationship between the observational data and the satellite state vector. Finally, by combining the time propagation of the state vector and the observation equations, a filtering algorithm can be used to estimate the initial velocity error. Through continuous iteration and updates, the filtering algorithm gradually approximates the true initial velocity error value.

[0043] Alternatively, the filtering method is not limited to the traditional Kalman algorithm; other nonlinear 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 filtering on the initial velocity error; when the filtered initial velocity error 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 updates the estimated value of the initial velocity error based on the current observation data and the predicted value of the state vector. If the filtered initial velocity error does not meet the preset conditions (e.g., the error is not on the order of mm / s), 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 (e.g., the error reaches the order of mm / s), it can be considered that the initial velocity error has been effectively compressed. At this point, a more precise observation mode (e.g., two-way ISL mode) can be switched to for subsequent high-precision orbit determination.

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

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

[0048] (3)

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

[0050] The extrapolation of the orbit of an in-orbit servicing satellite can be achieved using the extended Kalman filter algorithm. First, define... Let be the state vector of satellite u, where , and These are the position, velocity, and perturbation model parameters of satellite u, as shown below:

[0051] (4)

[0052] in, It is the state function of the orbital dynamics model of an on-orbit servicing satellite. It is the ISL observation function between satellite u and navigation satellite j. It is the observation at time k of the observation point. and These are the noises in the state equation and the observation equation, respectively. In equation (4), the observation equation... middle, and Obtained from ISL messages, and Depend on Approximate substitution.

[0053] State vector of satellites in orbit Covariance Matrix For forecasting, the corresponding differential equation is shown in equation (5).

[0054] (5)

[0055] in The calculation method is shown in equation (6). It's noise. The covariance matrix.

[0056] (6)

[0057] After completing the forecast, it is necessary to standardize the variable form to fit the observation equation, as shown below:

[0058] (7)

[0059] in and They are and P in The estimated value at time, and They are and P in Always Forecast value for the time.

[0060] Furthermore, it is possible to determine the time... The state vector and covariance matrix are estimated to obtain... and The calculation method is as follows:

[0061] (8)

[0062] in It is Kalman gain. The calculation method is shown in equation (9). noise The variance of is given by I, where I is the identity matrix.

[0063] (9)

[0064] Filtering can be used to quickly compress large initial errors, thereby achieving... The estimated speed reaches the preset condition, which is on the order of mm / s, thus meeting the start-up conditions for subsequent steps.

[0065] Based on the above embodiments, in this embodiment, switching the one-way inter-satellite link to a two-way inter-satellite link, enabling the navigation satellite and the on-orbit service satellite to perform two-way observations and obtain two-way observations, includes: receiving signals transmitted by the navigation satellite through the on-orbit service satellite and measuring a first distance; receiving signals transmitted by the on-orbit service satellite through the navigation satellite and measuring a second distance; reducing the first distance and the second distance to a unified epoch, and obtaining the two-way observations based on the reduced first distance and the second distance.

[0066] In two-way inter-satellite link mode, signals transmitted by navigation satellites can be received by on-orbit servicing satellites. On-orbit servicing satellites can be equipped with high-precision receiving equipment to capture signals of specific frequencies and codes transmitted by navigation satellites. Upon receiving the signal, the first distance from the navigation satellite to the on-orbit servicing satellite can be measured using onboard time synchronization equipment and distance measurement algorithms (such as ranging methods based on signal propagation time). Simultaneously, the navigation satellite can also receive signals transmitted by the on-orbit servicing satellite. Similarly, the navigation satellite can measure a second distance from the on-orbit servicing satellite to the navigation satellite. Since the measurements of the first and second distances may not be completed at the same time, these two distance values ​​can be generalized to a unified epoch (i.e., the same point in time) to obtain accurate two-way observations.

[0067] For example, a two-way inter-satellite link is not only for the first distance Measurements were taken, and signals were also transmitted from the on-orbit service satellite to the navigation satellite, at the navigation satellite's clock. Measure the second distance at all times Subsequently, the results obtained from the two observations were reduced. and Reducing to a unified epoch Then, the two-way observation is obtained through equation (10). .

[0068] (10)

[0069] in and These are the combined delays of on-orbit service satellites and navigation satellites. It measures noise.

[0070] Furthermore, the orbit determination of the on-orbit service satellite based on the two-way observations includes: replacing the observation data with the two-way observations, and adjusting the filter based on the two-way observations; and using the adjusted filter and the two-way observations to determine the orbit of the on-orbit service satellite.

[0071] In the subsequent filtering process, the observation in equation (4) is switched from unidirectional to bidirectional, that is... Switch to This is to achieve high-precision orbit determination in subsequent processes.

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

[0073] In embodiments of this disclosure, before analyzing the clock difference prediction information and the observation data to determine the initial velocity error, the method further includes: aligning the clock difference prediction information with the observation data using a time reference, and removing outliers or noise data from the observation data.

[0074] In the embodiments of this disclosure, precise time synchronization techniques, such as time comparison based on atomic clocks or Network Time Protocol (NTP), can be used to align the clock difference prediction information and the time reference of the observation data to the same reference system, thereby ensuring that the temporal relationship of the data is accurate in subsequent analysis and processing.

[0075] Observational data may contain outliers or noisy data due to various interference factors (such as cosmic rays, equipment malfunctions, etc.). If these data are directly used in subsequent analysis and processing, they may introduce significant errors and affect the accuracy of orbit determination. Therefore, effective data cleaning techniques can be used, such as statistical outlier detection algorithms (e.g., the 3σ principle, box plot method, etc.) or anomaly detection models in machine learning, to identify and remove outliers or noisy data.

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

[0077] In some exemplary embodiments, high-orbit on-orbit service satellites can be regarded as user satellites, and Ka-band inter-satellite links with medium-orbit navigation constellations can be established to achieve accurate orbit determination.

[0078] It should be noted that the inter-satellite link uses the Ka band of the time-division multiple access (TDMA) system. The Ka band has advantages such as wide bandwidth, large transmission capacity, and strong anti-interference capability, making it suitable for high-speed data transmission between satellites. Meanwhile, the TDMA system allows multiple satellites to share channel resources on the same frequency band through time division, thereby improving spectrum utilization and system capacity.

[0079] Example 1

[0080] Figure 2 A schematic diagram illustrating the orbit determination results provided by an embodiment of this disclosure is shown.

[0081] like Figure 2 As shown in the example, a relatively large initial deviation is set in the example to verify the robustness of the proposed method. Specifically, the three-axis position deviations are set to conform to a Gaussian distribution of (0, 300m), and the three-axis velocity deviations are set to conform to a Gaussian distribution of (0, 3m / s). The satellite selection strategy employs random selection, which allows for dispersed observations through multiple different links and has excellent relative geometric relationships. Specifically, one satellite is randomly selected from available satellites with equal weights at each observation time. The Monte Carlo method is used, with a measurement standard deviation of 0.3m, and 100 repeated experiments are conducted. The method provided in this embodiment has an average error better than 10m after 7 observations and an average error better than 1m after 11 observations. The error oscillation amplitude after convergence can be maintained within approximately 1m. Therefore, the autonomous orbit determination method for recovering periodic maneuver errors of high-orbit satellites provided in this embodiment not only meets high-precision requirements but also reduces the number of observations required for orbit determination from at least 15 to an average of 11, significantly improving observation efficiency.

[0082] Existing polynomial fitting methods require at least 15 observations to solve for orbital information due to limitations in the number of parameters to be estimated. However, the embodiments disclosed in this publication comprehensively utilize prior clock error information and orbital dynamics models, improving convergence speed without sacrificing orbital accuracy. This reduces the number of observations required to meet orbital determination requirements from at least 15 to an average of 11, resulting in an improvement in observation efficiency of approximately 26.7%.

[0083] Figure 3 The schematic diagram illustrates the structure of an autonomous orbit determination device for recovering periodic maneuver errors of high-orbit satellites, as provided in an embodiment of this disclosure.

[0084] like Figure 3 As shown, the autonomous orbit determination device 300 for recovering periodic maneuver errors of high-orbit 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 prior clock bias information of the satellite in orbit, and uses the prior clock bias information to predict the clock bias during the observation period by using polynomial fitting, so as to obtain clock bias prediction information.

[0086] The one-way observation module 302 is used to perform one-way observation of the on-orbit service satellite based on the one-way inter-satellite link established between the navigation satellite and the on-orbit service satellite, and 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 rapidly compress the initial velocity error.

[0088] The orbit determination module 304 is used to switch the one-way inter-satellite link to a two-way 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 conduct two-way observations, obtain two-way observations, and determine the orbit of the on-orbit service satellite based on the two-way observations.

[0089] It is understood that the acquisition module 301, unidirectional observation module 302, compression module 303, and orbit determination module 304 can be implemented in a single module, or any one of these modules can be split into multiple modules. Alternatively, at least some of the functions of one or more of these modules can be combined with at least some of the functions of other modules and implemented in a single module. According to embodiments of this disclosure, at least one of the acquisition module 301, unidirectional observation module 302, compression module 303, and orbit determination module 304 can be at least partially implemented as hardware circuitry, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or any other reasonable method of integrating or packaging circuitry, or as hardware or firmware implementations, or as a suitable combination of software, hardware, and firmware implementations. Alternatively, at least one of the acquisition module 301, unidirectional observation module 302, compression module 303, and orbit determination module 304 can be at least partially implemented as a computer program module, which, when run by a computer, can execute the functions of the corresponding module.

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

[0091] like Figure 4 As shown, the electronic device described in this embodiment includes: electronic device 400 including processor 410 and computer-readable storage medium 420. This electronic device 400 can perform the functions described above (see reference 410). Figure 2 The described method enables the detection of specific operations.

[0092] Specifically, processor 410 may include, for example, a general-purpose microprocessor, an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. Processor 410 may also include onboard memory for caching purposes. Processor 410 may be used for executing reference... Figure 2 The method flow described according to embodiments of this disclosure refers to a single processing unit or multiple processing units performing different actions.

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

[0094] Computer-readable storage medium 420 may include computer program 421, which may include code / computer-executable instructions that, when executed by processor 410, cause processor 410 to perform, for example, the above-described combination. Figure 2 The described method and any variations thereof.

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

[0096] According to embodiments of this 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 can be implemented as a reference. Figure 4 The computer program module described herein, when executed by processor 410, can perform the corresponding operations described above.

[0097] This disclosure also provides a computer-readable medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable medium carries one or more programs that, when executed, implement the method according to the embodiments of this disclosure.

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

[0099] The specific embodiments described above further illustrate the purpose, technical solutions, and beneficial effects of this disclosure. It should be understood that the above descriptions are merely specific embodiments of this disclosure and are not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. An autonomous orbit determination method suitable for recovering periodic maneuver errors of high-orbit satellites, characterized in that, include: Obtain prior clock bias information of satellites in orbit, and use the prior clock bias information to predict the clock bias during the observation period by using polynomial fitting, thereby obtaining clock bias prediction information; Based on the 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; The process involves analyzing the clock error prediction information and the observation data to determine the initial velocity error and then rapidly compressing it. Specifically, this includes: constructing a state vector for the on-orbit servicing satellite, which characterizes its orbital dynamics and the effects of external perturbations; performing time propagation on the state vector based on a predefined orbital dynamics model of the on-orbit servicing satellite; constructing observation equations based on the clock error prediction information and the observation data; estimating the initial velocity error using a filtering algorithm, combining the time propagation of the state vector and the observation equations; iteratively filtering the initial velocity error using the filtering algorithm; and adjusting the parameters of the filtering algorithm or the orbital dynamics model if the filtered initial velocity error does not meet preset conditions, until the initial velocity error satisfies the preset conditions. If the initial velocity error after compression meets the preset conditions, the one-way inter-satellite link is switched to a two-way inter-satellite link, enabling the navigation satellite and the on-orbit service satellite to conduct two-way observations, obtain two-way observations, and determine the orbit of the on-orbit service satellite based on the two-way observations.

2. The method according to claim 1, characterized in that, The step of switching the one-way inter-satellite link to a two-way inter-satellite link, enabling the navigation satellite and the on-orbit service satellite to conduct two-way observations and obtain two-way observations, includes: The first distance is obtained by receiving signals transmitted by the navigation satellite through the on-orbit service satellite; The second distance is obtained by receiving signals transmitted by the on-orbit service satellite from the navigation satellite; The first distance and the second distance are reduced to a unified epoch, and the bidirectional observation is obtained based on the reduced first distance and the second distance.

3. The method according to claim 1, characterized in that, The orbit determination of the on-orbit servicing satellite based on the two-way observations includes: The observation data is replaced with two-way observations, and the filter is adjusted based on the two-way observations. The orbit determination of the on-orbit servicing satellite is performed using the adjusted filter and the bidirectional observations.

4. The method according to claim 1, characterized in that, Before analyzing the clock difference prediction information and the observation data to determine the initial velocity error, the process also includes: The clock difference prediction information is aligned with the observation data in terms of time reference, and outliers or noisy data in the observation data are removed.

5. The method according to claim 1, characterized in that, The inter-satellite link is a Ka-band inter-satellite link using a time-division multiple access (TDMA) system.

6. An autonomous orbit determination device suitable for recovering periodic maneuver errors of high-orbit satellites, characterized in that, include: The acquisition module is used to acquire prior clock bias information of satellites in orbit, and use the prior clock bias information to predict the clock bias during the observation period by using polynomial fitting, so as to obtain clock bias prediction information. The one-way observation module is used to perform one-way observation of the on-orbit service satellite based on the one-way inter-satellite link established between the navigation satellite and the on-orbit service satellite, and obtain observation data. A compression module is used to analyze the clock error prediction information and the observation data, determine the initial velocity error, and rapidly compress the initial velocity error. Specifically, this includes: constructing a state vector for the on-orbit servicing satellite, which characterizes the satellite's orbital dynamics and external perturbation effects; performing time propagation on the state vector based on a predefined orbital dynamics model of the on-orbit servicing satellite; constructing observation equations based on the clock error prediction information and the observation data; estimating the initial velocity error using a filtering algorithm, combining the time propagation of the state vector and the observation equations; iteratively filtering the initial velocity error multiple times using the filtering algorithm; and adjusting the parameters of the filtering algorithm or the orbital dynamics model when the filtered initial velocity error does not meet preset conditions, until the initial velocity error meets the preset conditions. The orbit determination module is used to switch the one-way inter-satellite link to a two-way 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 conduct two-way observations, obtain two-way observations, and determine the orbit of the on-orbit service satellite based on the two-way observations.

7. 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 computer program, it implements each step of the autonomous orbit determination method for recovering periodic maneuver errors of high-orbit satellites as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements each step of the autonomous orbit determination method for recovering periodic maneuver errors of high-orbit satellites as described in any one of claims 1 to 5.

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