A method and apparatus for determining the orbit of navigation satellites based on joint satellite-ground observation.

Abstract

This invention discloses a method and apparatus for determining the orbit of navigation satellites based on joint satellite-ground observation. The method includes: acquiring stellar angular distance measurement data of navigation satellites in a preset semi-autonomous operation mode; conducting inter-satellite observations using Ka-band inter-satellite links to obtain inter-satellite relative distance information; obtaining satellite-ground relative distance information using Ka-band satellite-ground links; obtaining satellite orbit parameter information for the semi-autonomous operation mode using preset starting values ​​for navigation satellite orbit parameters according to the preset semi-autonomous operation mode; and evaluating and processing the satellite orbit parameter information for the semi-autonomous operation mode to obtain the optimal joint satellite-ground support mode. Therefore, this application provides a multi-mode optimization technology solution based on joint satellite-ground support, improving the accuracy of navigation satellite parameter calculation.

Description

Technical Field

[0001] This invention relates to the field of satellite navigation technology, specifically to a method and apparatus for determining the orbit of navigation satellites based on joint satellite-ground observation. Background Technology

[0002] Navigation satellite systems enhance satellite operational capabilities and orbit determination accuracy through a combined space-based and ground-based measurement support mode, strengthening the service advantages of the BeiDou system in complex environments. In this combined space-ground support mode, satellite support methods primarily include Ka-band inter-satellite link measurements and space-based orientation measurements based on star sensors, while ground support methods mainly include: inputting Earth rotation parameters (EOP parameters) on ground mobile stations / vehicles and conducting space-ground link measurements between ground mobile stations / vehicles and satellites. For the semi-autonomous operation mode of navigation satellites, there are currently no relevant solutions for the combined satellite and ground mobile station support mode, and research on combined space-ground support for semi-autonomous operation is insufficient. The joint design and optimization of space-based orientation observation and ground support modes have not been thoroughly explored, limiting the practical application potential of navigation satellite systems in complex environments.

[0003] To improve the accuracy of orbit determination and the performance of arc length prediction for navigation satellite systems, a method for determining navigation satellite orbits based on joint satellite-ground observation is needed. This method would enhance the accuracy of orbit determination and the performance of arc length prediction, and provide a technical solution for the research of joint satellite-ground support modes for navigation satellite systems. Summary of the Invention

[0004] To address the aforementioned issues, this application proposes a method and apparatus for determining the orbits of multiple satellites based on a satellite-ground joint support mode, specifically for the semi-autonomous operation mode of navigation satellites.

[0005] To achieve the above objectives, the first aspect of this application discloses a method for determining the orbit of a navigation satellite based on joint satellite-ground observation, the method comprising:

[0006] S1. Under the preset semi-autonomous operation mode, acquire the stellar angular distance measurement data of navigation satellites; the stellar angular distance measurement data includes the relative right ascension and relative declination data between stars in the celestial coordinate system;

[0007] S2. Use Ka inter-satellite links to conduct inter-satellite observations and obtain inter-satellite relative distance information;

[0008] S3. Obtain relative distance information between satellite and ground by using Ka-band satellite-to-ground link observation; the ground end of the Ka-band satellite-to-ground link is a ground vehicle or a ground mobile station.

[0009] S4. Based on the semi-autonomous operation mode, the satellite orbit parameter information of the semi-autonomous operation mode is obtained by using the preset starting value of the navigation satellite orbit parameters;

[0010] S5. Evaluate and process the satellite orbital parameter information of the semi-autonomous operation mode to obtain the optimal satellite-ground joint support mode.

[0011] As an optional implementation, in the first aspect of this application embodiment, the method for obtaining the sidereal angular distance measurement data information of navigation satellites includes:

[0012] The staring measurement mode acquisition method utilizes three IGSO satellites to perform staring observations on 24 MEO satellites of the BeiDou system. Each IGSO satellite is fixed to observe one visible MEO satellite in one orbital plane. When the MEO satellite becomes invisible, the observation is switched to other visible MEO satellites in the same orbital plane. Each IGSO satellite observes one stellar angular distance measurement data every 15 minutes to obtain the stellar angular distance measurement data information of the staring measurement mode.

[0013] The method for acquiring short-cycle measurement mode involves using a first duration as the short-cycle period, which is no less than 1 hour and no more than 2 hours. Within each short-cycle period, three IGSO satellites conduct rotational observations of MEO satellites in three orbits, with each IGSO satellite fixed to observe any visible MEO satellite in its orbital plane. At the start of the next short-cycle period, the IGSO satellites switch to another orbital plane, and the three IGSO satellites switch according to the same rules to ensure that MEO satellites participate in observation in all three orbital planes within each short-cycle period. Each IGSO satellite selects any visible MEO satellite in its observed orbital plane for observation. Stellar angular distance measurement data is acquired every 15 minutes to obtain the stellar angular distance measurement dataset for the short-cycle measurement mode.

[0014] The method for acquiring long-cycle measurement mode involves using a second duration as the long cycle, which is no less than 8 hours and no more than 12 hours. Within each long cycle, three IGSO satellites conduct rotational observations of MEO satellites in three orbits, with each IGSO satellite fixed to observe any visible MEO satellite in its orbital plane. At the start of the next long cycle, the IGSO satellites switch to another orbital plane, and the three IGSO satellites switch according to the same rules to ensure that MEO satellites participate in observation in all three orbital planes within each long cycle. Each IGSO satellite selects any visible MEO satellite in its observed orbital plane for observation. Stellar angular distance measurement data is acquired every 15 minutes to obtain the stellar angular distance measurement dataset for the long-cycle measurement mode.

[0015] As an optional implementation method, in the first aspect of the embodiments of this application, the preset semi-autonomous operation mode includes:

[0016] The first semi-autonomous operation mode: using ground vehicles, EOP parameters are uploaded once every 3 days; using Ka-band satellite-to-ground links, satellite-to-ground link observations are acquired once every 15 minutes; staring mode is used to measure star angular distance data; the uploaded EOP parameters are used to convert satellite orbit parameters in the J2000 coordinate system to satellite orbit parameters in the Earth-fixed system.

[0017] The second semi-autonomous operation mode; using ground vehicles to upload EOP parameters every 3 days; not conducting Ka-band satellite-to-ground link observations; using staring mode to measure stellar angular distance data;

[0018] The third semi-autonomous operation mode: ground vehicles do not upload EOP parameters; Ka-band satellite-to-ground links are used to acquire satellite-to-ground link observations every 15 minutes; staring mode is used to measure stellar angular distance data.

[0019] The fourth semi-autonomous operation mode: ground vehicles do not upload EOP parameters; the Ka-band satellite-to-ground link is used to acquire satellite-to-ground link observations every 15 minutes; the stellar angular distance data is measured using a round-robin measurement mode, which can be either a short round-robin cycle measurement mode or a long round-robin cycle measurement mode.

[0020] As an optional implementation, in the first aspect of the embodiments of this application, the step of using Ka-band inter-satellite links to perform inter-satellite observations and obtain inter-satellite relative distance information includes:

[0021] In t k At time t, inter-satellite observations were conducted using Ka-band inter-satellite links to obtain t k Inter-satellite link observations at time t; the inter-satellite link observations include a first observation and a second observation, the first observation representing the observation transmitted by satellite A and received by satellite B, and the second observation representing the observation transmitted by satellite B and received by satellite A; the t k The time corresponds to the observation time of the stellar angular distance measurement data in the aforementioned stellar angular distance measurement dataset;

[0022] Data was sampled continuously at 15-minute intervals to obtain a set of inter-satellite link observations;

[0023] According to the sampling order, the inter-satellite link observation set is processed using a relative distance calculation model to obtain inter-satellite relative distance information;

[0024] The relative distance calculation model is expressed as follows:

[0025]

[0026] In the formula, t k Indicates the sampling time. Indicates t k The relative distance between stars at any given moment These represent satellites A and B at time t. k Location at any given moment and t k The first and second observations at time t, where c is the speed of light. and These represent the transmit delay and receive delay of the inter-satellite link device for satellite A, respectively. and These represent the transmit and receive delays of the inter-satellite link equipment on satellite B, respectively. and These are error correction terms in inter-satellite observations, including satellite antenna phase center and relativistic effects, which can be accurately modeled and corrected using known models.

[0027] It should be noted that the method for calculating the relative distance between satellite and ground using Ka-band satellite-to-ground links is the same as the method for calculating the relative distance between satellites using Ka-band inter-satellite links. It is only necessary to treat the ground mobile station as one of the satellites, so it will not be described again.

[0028] As an optional implementation, in the first aspect of the embodiments of this application, the step of obtaining satellite orbit parameter information of the semi-autonomous operation mode by using preset navigation satellite orbit parameter starting values ​​according to the preset semi-autonomous operation mode includes: using the extended Kalman filter method to calculate the satellite orbit parameter information in the semi-autonomous operation mode.

[0029] As an optional implementation, in the first aspect of the embodiments of this application, the step of evaluating and processing the satellite orbital parameter information of the semi-autonomous operation mode to obtain the optimal satellite-ground joint support mode includes:

[0030] S51. Obtain the precise ephemeris of the navigation satellite from MGEX to obtain the reference navigation satellite orbit parameters; the epoch of the reference navigation satellite orbit parameters is the same as the epoch of the orbit parameter information of the semi-autonomous operation mode satellite.

[0031] S52. Based on the reference navigation satellite orbit parameters, perform error calculation processing on the satellite orbit parameter information of the semi-autonomous operation mode to obtain the error value corresponding to the semi-autonomous operation mode.

[0032] S53. Based on the error values ​​corresponding to the semi-autonomous operation modes, select the semi-autonomous operation mode with the smallest error value as the optimal satellite-ground joint support mode.

[0033] As an optional implementation, in the first aspect of this application, the step of performing error calculation processing on the orbital parameter information of the semi-autonomous operation mode satellite based on the reference navigation satellite orbital parameters to obtain the error value corresponding to the semi-autonomous operation mode includes:

[0034] Calculate the epoch difference between the orbital parameters of the reference navigation satellite and the orbital parameters of the semi-autonomous operation mode satellite to obtain the ephemeris epoch difference information;

[0035] The root mean square error value corresponding to the semi-autonomous operation mode is obtained by performing root mean square processing on the epoch difference information.

[0036] Based on the root mean square error value corresponding to the semi-autonomous operation mode, the semi-autonomous operation mode corresponding to the smallest root mean square error value is selected as the satellite-ground joint support mode.

[0037] The second aspect of this application discloses a navigation satellite orbit determination device based on joint satellite-ground observation, which may include:

[0038] The stellar angular distance measurement data acquisition module is used to acquire stellar angular distance measurement data of navigation satellites in a preset semi-autonomous operation mode; the stellar angular distance measurement data includes inter-satellite relative right ascension and relative declination data in the celestial coordinate system;

[0039] Inter-satellite relative distance information acquisition module; uses Ka-band inter-satellite links to conduct inter-satellite observations and obtain inter-satellite relative distance information;

[0040] Satellite-to-ground relative distance information acquisition module; used to obtain satellite-to-ground relative distance information through Ka-band satellite-to-ground link observation;

[0041] The satellite orbit parameter calculation module, based on the semi-autonomous operation mode, uses preset starting values ​​for navigation satellite orbit parameters to obtain satellite orbit parameter information for the semi-autonomous operation mode.

[0042] Evaluation module: Evaluates and processes the satellite orbital parameter information of the semi-autonomous operation mode to obtain the optimal satellite-ground joint support mode.

[0043] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0044] This invention addresses the need for joint satellite-ground support for navigation satellites in autonomous and semi-autonomous operation modes, proposing a multi-combination satellite orbit determination method and apparatus based on joint satellite-ground support mode, which has the following beneficial effects:

[0045] (1) Enhanced long-term robustness and adaptability of ephemeris calculation. For scenarios with insufficient ground support, ephemeris calculation was performed using space-based orientation measurement modes (such as staring measurement and round-robin measurement), ensuring ephemeris accuracy even in cases where ground annotations are missing. In scenarios with ground-assisted support, the calculation model was improved by fusing EOP parameter annotations and satellite-ground link observations, further optimizing the calculation accuracy of orbit and clock error parameters. In semi-autonomous operation mode, the joint mode was flexibly selected based on ground support capabilities, effectively reducing long-term deviations in navigation satellite orbit parameters. High-precision ephemeris calculation with three-dimensional orbit determination errors of 0.305m and 0.287m within 90 days was achieved, significantly improving ephemeris stability and accuracy compared to traditional methods.

[0046] (2) The technical solution provided in this application is adaptable to diverse operating scenarios and can flexibly select the best mode to maintain the stability and long-term robustness of ephemeris generation; it provides scalable support for the development of GNSS systems, and the technical solution provided can be further applied to deep space exploration missions and polar navigation, providing basic support for navigation services in complex environments. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of a navigation satellite orbit determination method based on joint space-ground observation disclosed in an embodiment of the present invention;

[0048] Figure 2 This is a schematic diagram of a navigation satellite orbit determination device based on joint space-ground observation disclosed in an embodiment of the present invention;

[0049] Figure 3 This is a schematic diagram of another navigation satellite orbit determination device based on joint space-ground observation disclosed in an embodiment of the present invention. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] Example 1

[0052] Please see Figure 1 . Figure 1 This is a schematic diagram of a navigation satellite orbit determination method based on joint space-ground observation disclosed in an embodiment of the present invention. The navigation satellite orbit determination method based on joint space-ground observation described in this application is applied in a management system, such as a local server or cloud server for management, etc., and the embodiments of the present invention are not limited thereto.

[0053] like Figure 1 As shown, the navigation satellite orbit determination method based on joint space-ground observation disclosed in this embodiment of the invention includes:

[0054] S1. Under the preset semi-autonomous operation mode, acquire the stellar angular distance measurement data of navigation satellites; the stellar angular distance measurement data includes the relative right ascension and relative declination data between stars in the celestial coordinate system;

[0055] It should be noted that the orbit prediction arc length during semi-autonomous operation is no less than 90 days. The observation period used in this invention is from October 1 to December 29, 2022, a total of 90 days.

[0056] S2. Use Ka inter-satellite links to conduct inter-satellite observations and obtain inter-satellite relative distance information;

[0057] S3. Obtain relative distance information between satellite and ground by using Ka-band satellite-to-ground link observation; the ground end of the Ka-band satellite-to-ground link is a ground vehicle or a ground mobile station.

[0058] S4. Based on the semi-autonomous operation mode, the satellite orbit parameter information of the semi-autonomous operation mode is obtained by using the preset starting value of the navigation satellite orbit parameters;

[0059] S5. Evaluate and process the satellite orbital parameter information of the semi-autonomous operation mode to obtain the optimal satellite-ground joint support mode.

[0060] In another optional embodiment, the method for obtaining the angular distance measurement data of navigation satellites includes:

[0061] The staring measurement mode acquisition method utilizes three IGSO satellites to perform staring observations on 24 MEO satellites of the BeiDou system. Each IGSO satellite is fixed to observe one visible MEO satellite in one orbital plane. When the MEO satellite becomes invisible, the observation is switched to other visible MEO satellites in the same orbital plane. Each IGSO satellite observes one stellar angular distance measurement data every 15 minutes to obtain the stellar angular distance measurement data information of the staring measurement mode.

[0062] The method for acquiring short-cycle measurement mode involves using a first duration as the short-cycle period, which is no less than 1 hour and no more than 2 hours. Within each short-cycle period, three IGSO satellites conduct rotational observations of MEO satellites in three orbits, with each IGSO satellite fixed to observe any visible MEO satellite in its orbital plane. At the start of the next short-cycle period, the IGSO satellites switch to another orbital plane, and the three IGSO satellites switch according to the same rules to ensure that MEO satellites participate in observation in all three orbital planes within each short-cycle period. Each IGSO satellite selects any visible MEO satellite in its observed orbital plane for observation. Stellar angular distance measurement data is acquired every 15 minutes to obtain the stellar angular distance measurement dataset for the short-cycle measurement mode.

[0063] The method for acquiring long-cycle measurement mode involves using a second duration as the long cycle, which is no less than 8 hours and no more than 12 hours. Within each long cycle, three IGSO satellites conduct rotational observations of MEO satellites in three orbits, with each IGSO satellite fixed to observe any visible MEO satellite in its orbital plane. At the start of the next long cycle, the IGSO satellites switch to another orbital plane, and the three IGSO satellites switch according to the same rules to ensure that MEO satellites participate in observation in all three orbital planes within each long cycle. Each IGSO satellite selects any visible MEO satellite in its observed orbital plane for observation. Stellar angular distance measurement data is acquired every 15 minutes to obtain the stellar angular distance measurement dataset for the long-cycle measurement mode.

[0064] In yet another optional embodiment, the preset semi-autonomous operation mode includes:

[0065] The first semi-autonomous operation mode: using ground vehicles to upload EOP parameters every 3 days; using the Ka-band satellite-to-ground link to acquire satellite-to-ground link observations every 15 minutes; and using staring mode to measure stellar angular distance data.

[0066] The second semi-autonomous operation mode; using ground vehicles to upload EOP parameters every 3 days; not conducting Ka-band satellite-to-ground link observations; staring mode for directional measurement of stellar angular distance data;

[0067] The third semi-autonomous operation mode: ground vehicles do not upload EOP parameters; Ka-band satellite-to-ground links are used to acquire satellite-to-ground link observations every 15 minutes; staring mode is used to measure stellar angular distance data.

[0068] The fourth semi-autonomous operation mode: ground vehicles do not upload EOP parameters; the Ka-band satellite-to-ground link is used to acquire satellite-to-ground link observations every 15 minutes; the stellar angular distance data is measured in a round-robin measurement mode, which can be either a short round-robin cycle measurement mode or a long round-robin cycle measurement mode.

[0069] In yet another optional embodiment, the step of using Ka-band inter-satellite links to perform inter-satellite observations and obtain inter-satellite relative distance information includes:

[0070] In t k At time t, inter-satellite observations were conducted using Ka-band inter-satellite links to obtain t k Inter-satellite link observations at time t; the inter-satellite link observations include a first observation and a second observation, the first observation representing the observation transmitted by satellite A and received by satellite B, and the second observation representing the observation transmitted by satellite B and received by satellite A; the t k The time corresponds to the observation time of the stellar angular distance measurement data in the aforementioned stellar angular distance measurement dataset;

[0071] Data was sampled continuously at 15-minute intervals to obtain a set of inter-satellite link observations;

[0072] According to the sampling order, the inter-satellite link observation set is processed using a relative distance calculation model to obtain inter-satellite relative distance information;

[0073] The relative distance calculation model is expressed as follows:

[0074]

[0075] In the formula, t k Indicates the sampling time. Indicates t k The relative distance between stars at any given moment These represent satellites A and B at time t. k Location at any given moment and t k The first and second observations at time t, where c is the speed of light. and These represent the transmit delay and receive delay of the inter-satellite link device for satellite A, respectively. and These represent the transmit and receive delays of the inter-satellite link equipment on satellite B, respectively. and These are error correction terms in inter-satellite observations, including satellite antenna phase center and relativistic effects, which can be accurately modeled and corrected using known models.

[0076] It should be noted that the method for calculating the relative distance between satellite and ground using Ka-band satellite-to-ground links is the same as the method for calculating the relative distance between satellites using Ka-band inter-satellite links. It is only necessary to treat the ground mobile station as one of the satellites, so it will not be described again.

[0077] In yet another optional embodiment, a method for calculating orbital parameters of a semi-autonomous operating mode satellite using stellar angular distance measurement data and inter-satellite relative distance information includes:

[0078] From stellar angular distance measurement data and interstellar relative distance information, t is obtained. k At any given moment, the angular distance between stars and their relative distances to each other;

[0079] Based on t k Using the angular distance measurements of stars and the relative distances between stars at different times, a set of ephemeris equations is constructed;

[0080] The set of ephemeris equations is expressed as follows:

[0081]

[0082] In the formula, (α) AB (t k ),δ AB (t k )) represents t k angular distance measurements of stars at that time Indicates t k The relative distance between stars at time A orb X represents the satellite position coefficient matrix. orb (t k The parameters to be solved are the satellite orbital parameters in the J2000 coordinate system, including the satellite position (x, y, z) and velocity (vx, vy, vz) parameters, Δ. orb This is the orbital observation noise vector;

[0083] Based on the stellar angular distance measurement data and the inter-satellite relative distance information, the satellite orbit parameters at the starting time are obtained by recursive least squares method.

[0084] The satellite orbit parameters at the starting time are processed using an orbit prediction model, and the satellite orbit parameters are obtained by using an extended Kalman filter method.

[0085] The orbit prediction model expression is:

[0086] X orb (t k )=Φ k,k-1 X orb (t k-1 )+W orb

[0087] In the formula, W orb For the system process noise matrix in the orbit parameter solution, Φ k,k-1 The orbital parameter state transition matrix;

[0088] The orbital parameter state transition matrix is:

[0089]

[0090] In the formula, f[·] represents the orbital dynamics model, and its partial derivative Φ is the Jacobian matrix based on the orbital dynamics model.

[0091] In another optional embodiment, a method for calculating the orbital parameters of a satellite in semi-autonomous operation mode using stellar angular distance measurement data, satellite-to-ground link distance information, and inter-satellite relative distance information includes:

[0092] Based on stellar angular distance measurement data Ka-band inter-satellite link observations and satellite-to-ground link observations Observational data, combined as t k Observation L at time orb A multi-dimensional observation equation is constructed, as follows:

[0093]

[0094] In the formula, X orb (t k ) represents the epoch t k Position parameters of navigation satellites at time k=1, t k That is, time t1, which is the starting time, and the position parameters X of the navigation satellite. orb (t1) is the quantity to be estimated, Δ orb Let A be the orbital observation noise vector. orb The satellite position coefficient matrix expresses the relationship between the observed data and the satellite position vector, and can be specifically represented as:

[0095]

[0096] X is solved using recursive least squares. orb Using this as the starting point for orbit calculation, and based on the orbit prediction model, the extended Kalman filter method is used to calculate the orbit parameters of the navigation satellite.

[0097] In another optional embodiment, the evaluation and processing of the satellite orbital parameter information of the semi-autonomous operation mode to obtain the optimal satellite-ground joint support mode includes:

[0098] S51. Obtain the precise ephemeris of the navigation satellite from MGEX to obtain the reference navigation satellite orbit parameters; the epoch of the reference navigation satellite orbit parameters is the same as the epoch of the orbit parameter information of the semi-autonomous operation mode satellite.

[0099] S52. Based on the reference navigation satellite orbit parameters, perform error calculation processing on the satellite orbit parameter information of the semi-autonomous operation mode to obtain the error value corresponding to the semi-autonomous operation mode.

[0100] S53. Based on the error values ​​corresponding to the semi-autonomous operation modes, select the semi-autonomous operation mode with the smallest error value as the optimal satellite-ground joint support mode.

[0101] In another optional embodiment, the error calculation processing is performed on the satellite orbit parameter information of the semi-autonomous operation mode based on the reference navigation satellite orbit parameters to obtain the error value corresponding to the semi-autonomous operation mode. This includes:

[0102] Calculate the epoch difference between the orbital parameters of the reference navigation satellite and the orbital parameters of the semi-autonomous operation mode satellite to obtain the ephemeris epoch difference information;

[0103] The root mean square error value corresponding to the semi-autonomous operation mode is obtained by performing root mean square processing on the epoch difference information.

[0104] Based on the root mean square error value corresponding to the semi-autonomous operation mode, the semi-autonomous operation mode corresponding to the smallest root mean square error value is selected as the satellite-ground joint support mode.

[0105] Example 2

[0106] Please see Figure 2 . Figure 2 This is a schematic diagram of a navigation satellite orbit determination device based on joint space-ground observation, as disclosed in an embodiment of the present invention. Figure 2 The described apparatus can be applied in management systems, such as local servers or cloud servers for management, and the embodiments of the present invention are not limited thereto. Figure 2 As shown, the device may include:

[0107] The stellar angular distance measurement data acquisition module 201 is used to acquire stellar angular distance measurement data of navigation satellites in a preset semi-autonomous operation mode; the stellar angular distance measurement data includes inter-satellite relative right ascension and relative declination data in the celestial coordinate system;

[0108] Inter-satellite relative distance information acquisition module 202: Uses Ka inter-satellite links to perform inter-satellite observations and obtain inter-satellite relative distance information;

[0109] Satellite-to-ground relative distance information acquisition module 203; used to obtain satellite-to-ground relative distance information by utilizing satellite-to-ground observations via Ka-band satellite-to-ground links;

[0110] The satellite orbit parameter calculation module 204, based on the semi-autonomous operation mode, uses the preset starting value of the navigation satellite orbit parameter to obtain the satellite orbit parameter information for the semi-autonomous operation mode.

[0111] Evaluation module 205: Evaluates and processes the satellite orbital parameter information of the semi-autonomous operation mode to obtain the optimal satellite-ground joint support mode.

[0112] This second embodiment is the product embodiment corresponding to the first embodiment. The steps and methods included are the same as those in the first embodiment, and will not be described in detail in the second embodiment.

[0113] Example 3

[0114] Please see Figure 3 , Figure 3 This is a schematic diagram of another navigation satellite orbit determination device based on joint space-ground observation disclosed in an embodiment of the present invention. Wherein, Figure 3 The described apparatus can be applied in management systems, such as local servers or cloud servers for management, and the embodiments of the present invention are not limited thereto. Figure 3 As shown, the device may include:

[0115] Memory 301 storing executable program code;

[0116] Processor 302 coupled to memory 301;

[0117] The processor 302 calls the executable program code stored in the memory 301 to execute the steps in the navigation satellite orbit determination method based on joint space-ground observation described in Embodiment 1.

[0118] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0119] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0120] Finally, it should be noted that the navigation satellite orbit determination method and apparatus based on joint space-ground observation disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining the orbit of navigation satellites based on joint satellite-ground observation, characterized in that, The method includes: S1. Under the preset semi-autonomous operation mode, acquire the stellar angular distance measurement data of navigation satellites; the stellar angular distance measurement data includes the relative right ascension and relative declination data between stars in the celestial coordinate system; S2. Use Ka inter-satellite links to conduct inter-satellite observations and obtain inter-satellite relative distance information; S3. Obtain relative distance information between satellite and ground by using Ka-band satellite-to-ground link observation; the ground end of the Ka-band satellite-to-ground link is a ground vehicle or a ground mobile station. S4. Based on the semi-autonomous operation mode, the satellite orbit parameter information of the semi-autonomous operation mode is obtained by using the preset starting value of the navigation satellite orbit parameters; S5. Evaluate and process the satellite orbital parameter information of the semi-autonomous operation mode to obtain the optimal satellite-ground joint support mode, specifically: S51. Obtain the precise ephemeris of the navigation satellite from MGEX to obtain the reference orbit parameters of the navigation satellite; the epoch of the reference orbit parameters of the navigation satellite is the same as the epoch of the orbit parameters of the semi-autonomous operation mode satellite. S52. Based on the reference orbit parameters of the navigation satellite, perform error calculation processing on the orbit parameter information of the semi-autonomous operation mode satellite to obtain the orbit parameter error value corresponding to the semi-autonomous operation mode. S53. Based on the orbital parameter error values ​​corresponding to the semi-autonomous operation modes, select the semi-autonomous operation mode with the smallest error value as the optimal satellite-ground joint support mode.

2. The method for determining the orbit of navigation satellites based on joint space-ground observation according to claim 1, characterized in that, The method for obtaining the angular distance measurement data of navigation satellites includes: The staring measurement mode acquisition method utilizes three IGSO satellites to perform staring observations on 24 MEO satellites of the BeiDou system. Each IGSO satellite is fixed to observe one visible MEO satellite in one orbital plane. When the MEO satellite becomes invisible, the observation is switched to other visible MEO satellites in the same orbital plane. Each IGSO satellite observes one stellar angular distance measurement data every 15 minutes to obtain the stellar angular distance measurement data information of the staring measurement mode. The method for acquiring short-cycle measurement mode involves using a first duration as the short-cycle period, which is no less than 1 hour and no more than 2 hours. Within each short-cycle period, three IGSO satellites conduct rotational observations of MEO satellites in three orbits, with each IGSO satellite fixed to observe any visible MEO satellite in its orbital plane. At the start of the next short-cycle period, the IGSO satellites switch to another orbital plane, and the three IGSO satellites switch according to the same rules to ensure that MEO satellites participate in observation in all three orbital planes within each short-cycle period. Each IGSO satellite selects any visible MEO satellite in its observed orbital plane for observation. Stellar angular distance measurement data is acquired every 15 minutes to obtain the stellar angular distance measurement dataset for the short-cycle measurement mode. The method for acquiring long-cycle measurement mode involves using a second duration as the long cycle, which is no less than 8 hours and no more than 12 hours. Within each long cycle, three IGSO satellites conduct rotational observations of MEO satellites in three orbits, with each IGSO satellite fixed to observe any visible MEO satellite in its orbital plane. At the start of the next long cycle, the IGSO satellites switch to another orbital plane, and the three IGSO satellites switch according to the same rules to ensure that MEO satellites participate in observation in all three orbital planes within each long cycle. Each IGSO satellite selects any visible MEO satellite in its observed orbital plane for observation. Stellar angular distance measurement data is acquired every 15 minutes to obtain the stellar angular distance measurement dataset for the long-cycle measurement mode.

3. The method for determining the orbit of navigation satellites based on joint space-ground observation according to claim 2, characterized in that, The preset semi-autonomous operation mode includes: The first semi-autonomous operation mode: using ground vehicles, EOP parameters are uploaded once every 3 days; using the Ka-band satellite-to-ground link, satellite-to-ground link observations are acquired once every 15 minutes, and staring measurement mode is used to acquire star angular distance data; The second semi-autonomous operation mode; using ground vehicles to upload EOP parameters every 3 days; not conducting Ka-band satellite-to-ground link observations; using staring mode to measure stellar angular distance data; The third semi-autonomous operation mode: ground vehicles do not upload EOP parameters; Ka-band satellite-to-ground links are used to acquire satellite-to-ground link observations every 15 minutes; staring mode is used to measure stellar angular distance data. The fourth semi-autonomous operation mode: ground vehicles do not upload EOP parameters; the Ka-band satellite-to-ground link is used to acquire satellite-to-ground link observations every 15 minutes; the stellar angular distance data is measured using a round-robin measurement mode, which can be either a short round-robin cycle measurement mode or a long round-robin cycle measurement mode.

4. The method for determining the orbit of a navigation satellite based on joint space-ground observation according to claim 1, characterized in that, The method of using Ka-band inter-satellite links for inter-satellite observation to obtain inter-satellite relative distance information includes: In t k At time t, inter-satellite observations were conducted using Ka-band inter-satellite links to obtain t k Inter-satellite link observations at time t; the inter-satellite link observations include a first observation and a second observation, the first observation representing the observation transmitted by satellite A and received by satellite B, and the second observation representing the observation transmitted by satellite B and received by satellite A; the t k The time corresponds to the observation time of the stellar angular distance measurement data in the aforementioned stellar angular distance measurement dataset; Data was sampled continuously at 15-minute intervals to obtain a set of inter-satellite link observations; According to the sampling order, the inter-satellite link observation set is processed using a relative distance calculation model to obtain inter-satellite relative distance information; The relative distance calculation model is expressed as follows: In the formula, t k Indicates the sampling time. Indicates t k The relative distance between stars at any given moment These represent satellites A and B at time t. k Position at any given time, relative distance between stars and t k The first and second observations at time t, where c is the speed of light. and These represent the transmit delay and receive delay of the inter-satellite link device for satellite A, respectively. and These represent the transmit and receive delays of the inter-satellite link equipment on satellite B, respectively. and These are error correction terms from inter-satellite observations.

5. The method for determining the orbit of a navigation satellite based on joint space-ground observation according to claim 4, characterized in that, The step of obtaining satellite orbit parameter information for the semi-autonomous operation mode using preset navigation satellite orbit parameter starting values ​​includes: using the extended Kalman filter method to calculate the satellite orbit parameter information in the semi-autonomous operation mode.

6. The method for determining the orbit of a navigation satellite based on joint space-ground observation according to claim 1, characterized in that, The step of performing error calculation processing on the satellite orbit parameter information of the semi-autonomous operation mode based on the navigation satellite reference orbit parameters to obtain the error value corresponding to the semi-autonomous operation mode includes: Calculate the epoch difference between the reference orbit parameters of the navigation satellite and the orbit parameters of the semi-autonomous operation mode satellite to obtain the ephemeris epoch difference information; The root mean square of the epoch difference information is processed to obtain the error value corresponding to the semi-autonomous operation mode.

7. A navigation satellite orbit determination device based on joint satellite-ground observation, characterized in that, The apparatus for determining the orbit of a navigation satellite based on joint space-ground observation as described in any one of claims 1-6 includes: The stellar angular distance measurement data acquisition module is used to acquire stellar angular distance measurement data of navigation satellites in a preset semi-autonomous operation mode; the stellar angular distance measurement data includes inter-satellite relative right ascension and relative declination data in the celestial coordinate system; Inter-satellite relative distance information acquisition module; uses Ka-band inter-satellite links to conduct inter-satellite observations and obtain inter-satellite relative distance information; Satellite-to-ground relative distance information acquisition module; used to obtain satellite-to-ground relative distance information through Ka-band satellite-to-ground link observation; The satellite orbit parameter calculation module, based on the semi-autonomous operation mode, uses preset starting values ​​for navigation satellite orbit parameters to obtain satellite orbit parameter information for the semi-autonomous operation mode. Evaluation module: Evaluates and processes the satellite orbital parameter information of the semi-autonomous operation mode to obtain the optimal satellite-ground joint support mode.

8. A navigation satellite orbit determination device based on joint space-ground observation, characterized in that, The device includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the navigation satellite orbit determination method based on joint space-ground observation as described in any one of claims 1-6.

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