Satellite orbit determination method and device, electronic equipment, product and storage medium

Abstract

The invention relates to the technical field of spaceflight, and provides a satellite orbit determination method and device, electronic equipment, a product and a storage medium. The method comprises the following steps: acquiring change information of a look-up angle from at least one ground satellite terminal to a satellite; based on a regression period, the look-up angle change information and the minimum look-up angle of the satellite orbit, average access rate change information of the at least one ground satellite terminal accessing the satellite is acquired, and the regression period is determined based on initial orbit information of the satellite orbit; and updating the initial orbit information based on a constraint condition corresponding to the maximum value of the average access rate change information to obtain a satellite orbit. According to the method, the constraint condition is determined through the maximum value of the average access rate, and then the satellite orbit is obtained, so that the satellite orbit is designed by taking the communication demand information of the ground satellite terminal as a starting point, and the time domain and space domain coverage requirements of the ground satellite terminal are met.

Description

Technical Field

[0001] This application relates to the field of aerospace technology, and particularly to a satellite orbit determination method, device, electronic device, product, and storage medium. Background Art

[0002] The existing satellite orbit determination method is a repeated ground track orbit scheme with almost constant altitude, which is only applicable to the scenario of low Earth orbit satellites with almost constant orbit altitude and not applicable to non-geostationary Earth orbit scenarios. At the same time, the existing satellite orbit determination method does not meet the time-domain and space-domain coverage requirements of ground satellite terminals in hot spots. Summary of the Invention

[0003] Embodiments of this application provide a satellite orbit determination method, device, electronic device, product, and storage medium to solve the technical problem that the satellite orbit determination method does not meet the time-domain and space-domain coverage requirements of ground satellite terminals in hot spots.

[0004] In a first aspect, this application provides a satellite orbit determination method, including:

[0005] Obtaining the elevation angle change information of at least one ground satellite terminal to the satellite;

[0006] Based on the regression period of the satellite orbit, the elevation angle change information, and the minimum elevation angle of the ground satellite terminal to the satellite, obtaining the average access rate change information of the at least one ground satellite terminal accessing the satellite, where the regression period is determined based on the initial orbit information of the satellite orbit;

[0007] Updating the initial orbit information based on the constraint condition corresponding to the maximum value of the average access rate change information to obtain the satellite orbit.

[0008] In one embodiment, determining the constraint condition corresponding to the maximum value of the average access rate includes:

[0009] Based on the difference between the first longitude value and the second longitude value of the satellite, determining the longitude error value of the satellite, where the first longitude value is the longitude value of the satellite at the initial time, the second longitude value is the longitude value of the satellite at the target time, and the target time is separated from the initial time by one regression period;

[0010] Based on the difference between the first latitude value and the second latitude value of the satellite, determining the latitude error value of the satellite, where the first latitude value is the latitude value of the satellite at the initial time and the second longitude value is the latitude value of the satellite at the target time;

[0011] Determine the geocentric distance error of the satellite based on the difference between the first geocentric distance and the second geocentric distance of the satellite, where the first geocentric distance is the geocentric distance of the satellite at the initial time, and the second geocentric distance is the geocentric distance of the satellite at the target time;

[0012] Determine the radial velocity error of the satellite based on the difference between the first radial velocity and the second radial velocity of the satellite, where the first radial velocity is the radial velocity of the satellite at the initial time, and the second radial velocity is the radial velocity of the satellite at the target time;

[0013] Determine the regression period ratio error of the satellite based on the difference between the regression period ratio of the satellite and the set regression period ratio;

[0014] Based on the maximum value, determine the longitude error threshold of the longitude error value, the latitude error threshold of the latitude error value, the geocentric distance error threshold of the geocentric distance error, the radial velocity error threshold of the radial velocity error, and the regression period ratio error threshold of the regression period ratio error;

[0015] Determine that the constraint conditions are that the longitude error value is within the set range of the longitude error threshold, the latitude error value is within the set range of the latitude error threshold, the geocentric distance error is within the set range of the geocentric distance error threshold, the radial velocity error is within the set range of the radial velocity error threshold, and the regression period ratio error is within the set range of the regression period ratio error threshold.

[0016] In one embodiment, updating the initial orbit information based on the constraint conditions corresponding to the maximum value of the average access rate change information to obtain the satellite orbit includes:

[0017] Based on the constraint conditions, determine the target change information of the average access rate change information; wherein, the first minimum value of the target change information corresponds to the maximum value of the average access rate change information;

[0018] Based on the initial orbit information and initial velocity information of the satellite, determine the first position information and first velocity information of multiple particles;

[0019] Based on the first position information, the first velocity information, and the target change information of each particle, determine the second minimum value of the target change information of each particle to obtain the self-optimal position of each particle;

[0020] In the nth iteration, based on the minimum value among multiple second minimum values, determine the global optimal position of multiple particles;

[0021] Determine the second position information and the second velocity information of the particle in the (n + 1)-th iteration based on the self-optimal position and the global optimal position;

[0022] Iteratively update the self-optimal position and the global optimal position of the particle based on the second position information, the second velocity information, and the target change information;

[0023] If it is determined that the value of the target change information is the first minimum value based on the updated self-optimal position and the global optimal position, update the initial orbit information based on the self-optimal position and the global optimal position to obtain the satellite orbit.

[0024] In one embodiment, obtaining the regression period based on the initial orbit information includes:

[0025] Determine the mean motion derivative of the satellite based on the initial orbit information, the J2 orbit perturbation model parameters, the Earth radius, and the Earth standard gravitational constant;

[0026] Determine the mean argument of perigee derivative and the mean right ascension of the ascending node derivative of the satellite based on the initial orbit information, the J2 orbit perturbation model parameters, the Earth radius, and the mean motion derivative;

[0027] Determine the regression period ratio of the satellite based on the mean motion derivative, the mean argument of perigee derivative, the mean right ascension of the ascending node derivative, and the Earth rotation speed, where the regression period ratio is the ratio of the Greenwich nodal period to the orbital nodal period of the satellite, and the orbital nodal period is determined by the mean motion derivative and the mean argument of perigee derivative;

[0028] Obtain the regression period based on the orbital nodal period and the regression period ratio.

[0029] In one embodiment, the determining the elevation angle change information of at least one ground satellite terminal to the satellite includes:

[0030] Obtain the elevation angle change information based on the geocentric longitude of at least one ground satellite terminal, the latitude of at least one ground satellite terminal, the initial orbit information, the geocentric longitude of the satellite at the sub-satellite point, the latitude of the satellite at the sub-satellite point, and the Earth radius, where the geocentric longitude of the satellite at the sub-satellite point and the latitude of the satellite at the sub-satellite point are determined based on the orbit information at different times.

[0031] In one embodiment, the obtaining the average access rate change information of at least one ground satellite terminal accessing the satellite based on the regression period of the satellite orbit, the elevation angle change information, and the minimum elevation angle includes:

[0032] Based on the elevation angle change information, obtain the elevation angle of the at least one ground satellite terminal at any moment;

[0033] Based on the comparison result between the elevation angle and the minimum elevation angle, obtain the access rate information of the at least one ground satellite terminal accessing the satellite;

[0034] Based on the access rate information and the regression period, obtain the access rate change information of the at least one ground satellite terminal accessing the satellite;

[0035] Based on the access rate change information and the number of ground satellite terminals, obtain the average access rate change information.

[0036] In one embodiment, the obtaining the access rate information of the at least one ground satellite terminal accessing the satellite based on the comparison result between the elevation angle and the minimum elevation angle includes:

[0037] When the elevation angle is greater than or equal to the minimum elevation angle, determine that the access value of the ground satellite terminal accessing the satellite is the first access value;

[0038] When the elevation angle is less than the minimum elevation angle, determine that the access value is the second access value;

[0039] Based on the first access value and the second access value, obtain the access rate information.

[0040] In a second aspect, the present application provides a satellite orbit determination device, including:

[0041] An elevation angle change information acquisition module, configured to acquire the elevation angle change information of at least one ground satellite terminal to the satellite;

[0042] An average access rate change information acquisition module, configured to obtain the average access rate change information of the at least one ground satellite terminal accessing the satellite based on the regression period of the satellite orbit, the elevation angle change information, and the minimum elevation angle, where the regression period is determined based on the initial orbit information of the satellite orbit;

[0043] A satellite orbit acquisition module, configured to update the initial orbit information based on the constraint condition corresponding to the maximum value of the average access rate change information to obtain the satellite orbit.

[0044] In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory storing a computer program, and the processor implements the satellite orbit determination method described in the first aspect when executing the program.

[0045] Fourth aspect, an embodiment of the present application provides a computer program product, including a computer program, which when executed by a processor implements the satellite orbit determination method described in the first aspect.

[0046] Fifth aspect, an embodiment of the present application provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the satellite orbit determination method described in the first aspect.

[0047] The satellite orbit determination method, device, electronic device, product and storage medium provided by the embodiments of the present application obtain the elevation angle change information of at least one ground satellite terminal to the satellite; based on the regression period of the satellite orbit, the elevation angle change information and the minimum elevation angle of the ground satellite terminal to the satellite, obtain the average access rate change information of the at least one ground satellite terminal accessing the satellite, and the regression period is determined based on the initial orbit information of the satellite orbit; based on the constraint condition corresponding to the maximum value of the average access rate change information, update the initial orbit information to obtain the satellite orbit. The present application determines the constraint condition through the maximum value of the average access rate, realizes designing the satellite orbit starting from the communication demand information of the ground satellite terminal, so as to meet the time domain and space domain coverage requirements of the ground satellite terminal. Description of the Drawings

[0048] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0049] Figure 1 is one of the flow diagrams of the satellite orbit determination method provided by the embodiments of the present application;

[0050] Figure 2 is a schematic diagram of the initial orbit information provided by the embodiments of the present application;

[0051] Figure 3 is a schematic diagram of the space coordinate system of the earth and the satellite provided by the embodiments of the present application;

[0052] Figure 4 is a schematic diagram of the elevation angle provided by the embodiments of the present application;

[0053] Figure 5 is one of the flow diagrams of the satellite orbit determination method provided by this embodiment;

[0054] Figure 6 is a schematic diagram of the structure of the satellite orbit determination device provided by the embodiments of the present application;

[0055] Figure 7 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Specific embodiments

[0056] To make the objectives, technical solutions, and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, rather than all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without making creative efforts shall fall within the protection scope of the present application.

[0057] Figure 1 It is one of the schematic flowcharts of the satellite orbit determination method provided by an embodiment of the present application. Referring to Figure 1 , an embodiment of the present application provides a satellite orbit determination method, including:

[0058] Step 100: Obtain the change information of the elevation angle from at least one ground satellite terminal to the satellite.

[0059] The satellite includes a Repeat Ground Track (RGT) satellite. As Figure 4 shown, the elevation angle is the linear angle between the ground satellite terminal (such as an antenna) and the satellite, and is used to represent the angle at which the ground satellite terminal faces the satellite. The elevation angle is a dynamic value and will change with time and satellite movement. Obtain the function of the elevation angle of the satellite changing with time to obtain the elevation angle change information.

[0060] Based on the initial orbit information, determine the regression period. Specifically, based on the initial orbit information, J2 orbit perturbation model parameters, the Earth's radius, and the Earth's standard gravitational constant, determine the derivative of the mean anomaly of the satellite; based on the initial orbit information, J2 orbit perturbation model parameters, the Earth's radius, and the derivative of the mean anomaly, determine the derivative of the argument of perigee and the derivative of the right ascension of the ascending node of the satellite; based on the derivative of the mean anomaly, the derivative of the argument of perigee, the derivative of the right ascension of the ascending node, and the Earth's rotation speed, determine the regression period ratio, where the regression period ratio is the ratio of the Greenwich nodal period to the orbital nodal period of the satellite, and the orbital nodal period is determined by the derivative of the mean anomaly and the derivative of the argument of perigee; based on the orbital nodal period and the regression period ratio, determine the regression period.

[0061] Let the orbital information be a time-varying parameter that changes with time. Then the orbital information is denoted as [a, e, i, ω(t), Ω(t), f(t)], where f(t) is the time-varying parameter of the true anomaly that changes with time, ω(t) is the time-varying parameter of the argument of perigee that changes with time, Ω(t) is the time-varying parameter of the right ascension of the ascending node that changes with time, a is the semi-major axis, e is the eccentricity, and i is the orbital inclination.

[0062] According to Kepler's equation, the expression for f(t) is:

[0063]

[0064] M(t) = E(t) - e sin E(t)

[0065]

[0066] where e is the eccentricity, E(t) is the time-varying parameter of the eccentric anomaly of the satellite orbit that changes with time, M(t) is the time-varying parameter of the mean anomaly of the satellite orbit that changes with time, t p is the time when the satellite passes through the perigee (the point on the satellite orbit closest to the Earth), and μ is the standard gravitational constant of the Earth.

[0067] The value range of the eccentric anomaly is from 0 to 360 degrees. The eccentric anomaly starts from the focus of the elliptical orbit and measures the angle formed by the line connecting the satellite and the perigee in the counterclockwise direction. Through the eccentric anomaly, the offset degree and angular position of the satellite relative to the perigee can be determined.

[0068] The value range of the mean anomaly is from 0 to 360 degrees. The mean anomaly starts from the perigee of the elliptical orbit and measures the angle formed by the line connecting the satellite and the perigee in the counterclockwise direction. The mean anomaly describes the position of the satellite when it moves at a uniform speed within the orbital period.

[0069] The Newton-Raphson iteration method is used to solve the eccentric anomaly:

[0070]

[0071] where E k (t) is the eccentric anomaly at time t in the k-th iteration; M k (t) is the mean anomaly at time t in the k-th iteration; e is the eccentricity; E k+1 (t) is the eccentric anomaly at time t in the (k + 1)-th iteration.

[0072] The iteration termination condition is:

[0073] |M k+1 (t) - M k (t)| < ε E ;

[0074] Among them, M k+1 (t) is the mean anomaly at time t in the (k + 1)-th iteration; ε E is the iteration accuracy, and ε E is preset.

[0075] According to the J2 orbit perturbation model, ω(t), Ω(t), and M(t) satisfy the following equations, where ω(t) is the time-varying parameter of the argument of perigee of the satellite varying with time:

[0076]

[0077] Among them, t0 is the initial time, J2 is the parameter of the J2 orbit perturbation model, R E is the radius of the Earth, is the derivative of the mean mean anomaly, a is the semi-major axis, e is the eccentricity, ω(t0) is the argument of perigee at time t0, Ω(t0) is the right ascension of the ascending node at time t0, M(t0) is the mean anomaly at time t0. The derivative of the mean mean anomaly is used to characterize the average change of the mean anomaly. μ is the standard gravitational constant of the Earth, and i is the orbital inclination.

[0078] Calculate the regression period ratio of the RGT satellite. By constraining the regression period ratio, the ground track of the satellite orbit can be periodically repeated in the Coordinated Universal Time (UTC) framework, so as to meet the time-domain coverage requirements of Terrestrial-Satellite Terminals.

[0079] In the Earth-Centered Earth-Fixed (ECEF) coordinate system, when the orbital node period of the satellite is a rational multiple of the Greenwich node period, the RGT orbit of the satellite can be realized.

[0080]

[0081]

[0082]

[0083]

[0084]

[0085] T reg = N P T S = N D T G ;

[0086] X0 = [a, e, i, f0, Ω0]

[0087] Wherein, TS is the orbital node period, TG is the Greenwich node period, NP is the number of orbital node periods, ND is the number of Greenwich node periods, ω E is the Earth's rotation speed, is the derivative of the mean argument of perigee, is the derivative of the mean right ascension of the ascending node, the derivative of the mean mean anomaly, J2 is the J2 orbit perturbation model parameter, RE is the Earth's radius, a is the semi-major axis, e is the eccentricity, i is the orbital inclination, T reg is the regression period, τ(X) is the regression period ratio, f0 is the true anomaly at time t0, Ω0 is the argument of perigee at time t0, and X0 is the initial orbit information at time t0.

[0088] Determine the regression period ratio of the satellite based on the derivative of the mean mean anomaly, the derivative of the mean argument of perigee, the derivative of the mean right ascension of the ascending node, and the Earth's rotation speed. Set the number of Greenwich node periods to 1. Calculate the number of orbital node periods based on the regression period ratio and the number of Greenwich node periods. Obtain the regression period based on the number of orbital node periods and the orbital node period.

[0089] Step 200: Obtain the average access rate change information of at least one ground satellite terminal accessing the satellite based on the regression period of the satellite orbit, the change information of the elevation angle, and the minimum elevation angle from the ground satellite terminal to the satellite.

[0090] The regression period is determined based on the initial orbit information of the satellite orbit.

[0091] Such as Figure 2 、 3 shown, the orbit information is used to characterize the parameters of the shape, position, and motion of the satellite orbit. The orbit information includes the semi-major axis a, eccentricity e, orbital inclination i, right ascension of the ascending node Ω, argument of perigee ω, and true anomaly f of the satellite orbit.

[0092] The semi-major axis is defined as the distance from the center of the ellipse of the satellite orbit to one of the two foci of the ellipse.

[0093] The eccentricity is used to measure the degree of ellipticity of the satellite orbit. The value range of the eccentricity is between 0 and 1. Among them, 0 represents a circular orbit, and 1 represents an extreme elliptical orbit.

[0094] The orbital inclination is the angle between the satellite orbit plane and the Earth's equatorial plane. The orbital inclination describes the degree of inclination of the satellite relative to the Earth's equator.

[0095] The argument of perigee is an angular parameter used to describe the position of the perigee of a satellite on its orbit relative to the position of the ascending node. The value range of the argument of perigee is from 0 to 360 degrees. The argument of perigee is measured counterclockwise along the orbit starting from the ascending node of the elliptical orbit to form the angle of the line connecting the satellite and the perigee.

[0096] The right ascension of the ascending node defines the longitude on the equator of the intersection point of the satellite orbit plane and the Earth's equatorial plane.

[0097] The true anomaly represents the angle between the line connecting the satellite and the perigee in the orbit plane. The value range of the true anomaly is from 0 to 360 degrees. The true anomaly is measured counterclockwise starting from the pericenter to form the angle of the line connecting the satellite and the perigee.

[0098] a and e determine the shape of the satellite orbit. i, ω, and Ω determine the position of the satellite orbit plane. f determines the current position of the satellite in the orbit. Optionally, the mean anomaly of the satellite orbit or parameters such as the time of perigee passage are used to replace the true anomaly. The initial orbit information is denoted as [a, e, i, Ω0, f0].

[0099] Obtain the elevation angle change information of at least one ground satellite terminal to the satellite. Specifically, based on the geocentric longitude of at least one ground satellite terminal, the latitude of at least one ground satellite terminal, the initial orbit information, the geocentric longitude of the satellite at the sub-satellite point, the latitude of the satellite at the sub-satellite point, and the radius of the Earth, obtain the elevation angle change information. The geocentric longitude of the satellite at the sub-satellite point and the latitude of the satellite at the sub-satellite point are determined based on the orbit information at different times.

[0100] According to the orbit information of the satellite, calculate the geocentric longitude of the satellite at the sub-satellite point and the latitude of the satellite at the sub-satellite point at different times.

[0101] As Figure 4 shown, the elevation angle of the ground satellite terminal is the elevation angle required for the ground satellite terminal to point to the satellite. The elevation angle change information includes the elevation angle change function of the elevation angle with time. The calculation formula of the elevation angle change function is:

[0102]

[0103] where, θ j (t) is the elevation angle change function of the j-th ground satellite terminal, α j (t) is the geocentric angle of the j-th ground satellite terminal at time t, is the geocentric longitude of the j-th ground satellite terminal, the latitude of the j-th ground satellite terminal, λS(t) is the geocentric longitude of the satellite at the sub-satellite point, is the latitude of the satellite at the sub-satellite point, RE is the radius of the Earth, as Figure 4As shown, the sub-satellite point refers to the point where the satellite is tangent to the Earth's surface in its orbit.

[0104] Based on the regression period of the satellite orbit, the change information of the elevation angle, and the minimum elevation angle, obtain the change information of the average access rate for at least one ground satellite terminal to access the satellite. Specifically, based on the change information of the elevation angle, obtain the elevation angle of at least one ground satellite terminal at any moment; based on the comparison result between the elevation angle and the minimum elevation angle, obtain the access rate information of at least one ground satellite terminal accessing the satellite; based on the access rate information and the regression period, obtain the change information of the access rate of at least one ground satellite terminal accessing the satellite; based on the change information of the access rate and the number of ground satellite terminals, obtain the change information of the average access rate.

[0105] Based on the comparison result between the elevation angle and the minimum elevation angle, obtain the access rate information of at least one ground satellite terminal accessing the satellite. Specifically, when the elevation angle is greater than or equal to the minimum elevation angle, determine that the access value of the ground satellite terminal accessing the satellite is the first access value; when the elevation angle is less than the minimum elevation angle, determine that the access value is the second access value; based on the first access value and the second access value, obtain the access rate information.

[0106] The minimum elevation angle refers to the minimum elevation angle allowed when the ground satellite terminal faces the satellite. When the elevation angle of the ground satellite terminal is less than the minimum elevation angle, the signal between the ground satellite terminal and the satellite will be interfered by signals such as the Earth's atmosphere. Therefore, it is set that when the elevation angle is greater than the minimum elevation angle, the ground satellite terminal successfully accesses the satellite. When the elevation angle is less than the minimum elevation angle, the ground satellite terminal does not successfully access the satellite.

[0107] According to the initial orbit information, determine the regression period of the satellite. According to the change information of the elevation angle, determine the elevation angle of the satellite at each moment. Compare the elevation angle at each moment with the minimum elevation angle, and based on the comparison result, determine the change information of the access rate of the ground satellite terminal accessing the satellite. According to the regression period and the change information of the access rate at each moment, determine the change information of the average access rate.

[0108]

[0109] Among them, ν j (t) is the access rate information of the j-th ground satellite terminal, θ j (t) is the elevation angle of the j-th ground satellite terminal at time t, θ min is the minimum elevation angle.

[0110] Furthermore, within a regression period, determine the change information of the access rate of the j-th ground satellite terminal. Based on the change information of the access rate and the number of ground satellite terminals, determine the change information of the average access rate:

[0111]

[0112]

[0113] wherein, R j is the access rate change information of the j-th ground satellite terminal, and ν j (t) is the access rate information of the j-th ground satellite terminal, T reg is the regression period, J is the number of ground satellite terminals, and Ra is the average access rate change information.

[0114] An optimization problem and constraint conditions are established based on the maximum value of the average access rate (Average Access Ratio, AAR) change information. The average access rate change information includes a function of the average access rate of the ground satellite terminal changing with time.

[0115] Step 300: Update the initial orbit information based on the constraint conditions corresponding to the maximum value of the average access rate change information to obtain the satellite orbit.

[0116] The optimization problem corresponding to the constraint conditions is how to obtain the maximum value of the average access rate change function. Through the constraint conditions, a penalty function is established. Using the penalty function, the optimization problem is transformed into an unconstrained optimization problem. The unconstrained optimization problem is solved according to the Particle Swarm Optimization algorithm (PSO) to obtain the constraint value corresponding to the constraint conditions. According to the constraint value, the initial orbit information is updated to obtain the satellite orbit.

[0117] The satellite orbit determination method provided by the embodiments of the present application obtains the elevation angle change information of at least one ground satellite terminal to the satellite; based on the regression period of the satellite orbit, the elevation angle change information, and the minimum elevation angle of the ground satellite terminal to the satellite, obtains the average access rate change information of at least one ground satellite terminal accessing the satellite, and the regression period is determined based on the initial orbit information of the satellite orbit; updates the initial orbit information based on the constraint conditions corresponding to the maximum value of the average access rate change information to obtain the satellite orbit. The embodiments of the present application determine the constraint conditions through the maximum value of the average access rate, and realize designing the satellite orbit starting from the communication demand information of the ground satellite terminal to meet the time-domain and space-domain coverage requirements of the ground satellite terminal.

[0118] Based on the above embodiments, determining the constraint conditions corresponding to the maximum value of the average access rate includes:

[0119] Step 400: Determine the longitude error value of the satellite based on the difference between the first longitude value and the second longitude value of the satellite. The first longitude value is the longitude value of the satellite at the initial time, and the second longitude value is the longitude value of the satellite at the target time. The target time is separated from the initial time by one regression period.

[0120] Step 500: Determine the latitude error value of the satellite based on the difference between the first latitude value and the second latitude value of the satellite. The first latitude value is the latitude value of the satellite at the initial time, and the second longitude value is the latitude value of the satellite at the target time.

[0121] Step 600: Determine the geocentric distance error of the satellite based on the difference between the first geocentric distance and the second geocentric distance of the satellite. The first geocentric distance is the geocentric distance of the satellite at the initial time, and the second geocentric distance is the geocentric distance of the satellite at the target time.

[0122] Step 700: Determine the radial velocity error of the satellite based on the difference between the first radial velocity and the second radial velocity of the satellite. The first radial velocity is the radial velocity of the satellite at the initial time, and the second radial velocity is the radial velocity of the satellite at the target time.

[0123] Step 800: Determine the regression period ratio error of the satellite based on the difference between the regression period ratio of the satellite and the set regression period ratio.

[0124] Step 9o0: Determine the longitude error threshold of the longitude error value, the latitude error threshold of the latitude error value, the geocentric distance error threshold of the geocentric distance error, the radial velocity error threshold of the radial velocity error, and the regression period ratio error threshold of the regression period ratio error based on the maximum value.

[0125] Step 1000: Determine that the constraint conditions are that the longitude error value is within the set range of the longitude error threshold, the latitude error value is within the set range of the latitude error threshold, the geocentric distance error is within the set range of the geocentric distance error threshold, the radial velocity error is within the set range of the radial velocity error threshold, and the regression period ratio error is within the set range of the regression period ratio error threshold.

[0126] The constraint conditions need to consider both the position error and the velocity error of the satellite. In polar coordinates, the position of the satellite is represented by longitude, latitude, and geocentric distance, and its expression is:

[0127]

[0128] where λ(t) is the longitude of the satellite, is the latitude of the satellite, u(t) is the latitude parameter of the satellite, t0 is the initial time, and G0 is the Greenwich mean sidereal time at time t0. is the oblateness of the Earth, U(·) is the unit step function, sgn(·) is the sign function, Ω(t) is the time-varying parameter of the argument of perigee varying with time, i is the orbital inclination, f(t) is the time-varying parameter of the true anomaly varying with time, ω(t) is the time-varying parameter of the argument of perigee of the satellite varying with time, a is the semi-major axis, e is the eccentricity, ω E is the Earth's rotation speed.

[0129] Determine the velocity of the satellite along the radial, track, and normal directions in the satellite orbit coordinate system, and its expression is:

[0130]

[0131] Among them, V r (t) is the velocity of the satellite along the radial direction in the satellite orbit coordinate system, V t (t) is the velocity of the satellite along the track in the satellite orbit coordinate system, V n (t) is the velocity of the satellite along the normal direction in the satellite orbit coordinate system, μ is the standard gravitational constant of the Earth, a is the semi-major axis, e is the eccentricity, and f(t) is the time-varying parameter of the true anomaly varying with time.

[0132] When the satellite passes through a regression period, it can be considered that:

[0133] f(t r )≈f(t0);

[0134] Among them, t0 is the initial time, t r is the target time, f(t0) is the true anomaly at the initial time, and f(t r ) is the true anomaly at the target time.

[0135] Assume that V t (t) is proportional to V r (t). When V r (t) converges, V t (t) also satisfies the convergence condition.

[0136] Define the longitude error value, latitude error value, geocentric distance error, and radial velocity error of the satellite. Define the regression error function vector of the satellite according to the longitude error value, latitude error value, geocentric distance error, and radial velocity error:

[0137]

[0138] T reg =t r -t0;

[0139] Among them, E(X) is the regression error function vector, Δλ(X) is the longitude error value, is the latitude error value, Δr(X) is the geocentric distance error, and ΔV r (X) is the radial velocity error, and λ(t r ) is the second longitude value, and λ(t0) is the first longitude value. is the second latitude value. is the first latitude value, and r(t r ) is the second geocentric distance, and r(t0) is the first geocentric distance. V r (t r ) is the second radial velocity, and V r (t0) is the first radial velocity, t0 is the initial time, and t r is the target time, and T reg is the regression period.

[0140] The difference between the regression period ratio of the satellite and the set regression period ratio is used as the regression period ratio error.

[0141] When the average access rate change information takes the maximum value, the longitude error value is within the set range of the longitude error threshold, the latitude error value is within the set range of the latitude error threshold, the geocentric distance error is within the set range of the geocentric distance error threshold, the radial velocity error is within the set range of the radial velocity error threshold, and the regression period ratio error is within the set range of the regression period ratio error threshold.

[0142] By solving the constraint conditions, the target orbit information when the average access rate change information takes the maximum value can be determined.

[0143] Based on the fact that the longitude error value is within the set range of the longitude error threshold, the latitude error value is within the set range of the latitude error threshold, the geocentric distance error is within the set range of the geocentric distance error threshold, the radial velocity error is within the set range of the radial velocity error threshold, and the regression period ratio error is within the set range of the regression period ratio error threshold, the present application embodiment determines the constraint conditions, realizes starting from the communication requirement information of the ground satellite terminal, designing the satellite orbit to meet the time domain and space domain coverage requirements of the ground satellite terminal, and is beneficial to improving the average access rate of the ground satellite terminal accessing the satellite.

[0144] Based on the above embodiment, based on the constraint conditions corresponding to the maximum value of the average access rate change information, the initial orbit information is updated to obtain the satellite orbit, including:

[0145] Step 310: Based on the constraint conditions, determine the target change information of the average access rate change information; wherein, the first minimum value of the target change information corresponds to the maximum value of the average access rate change information.

[0146] Step 320: Based on the initial orbit information and initial velocity information of the satellite, determine the first position information and first velocity information of multiple particles.

[0147] Step 330: Determine the second minimum value of the target change information for each particle based on the first position information, the first velocity information, and the target change information of each particle, so as to obtain the own best position of each particle;

[0148] Step 340: In the nth iteration, determine the global best position of multiple particles based on the minimum value among multiple second minimum values;

[0149] Step 350: Determine the second position information and the second velocity information of the particle in the (n + 1)th iteration based on the own best position and the global best position;

[0150] Step 360: Iteratively update the own best position and the global best position of the particle based on the second position information, the second velocity information, and the target change information;

[0151] Step 370: If it is determined that the value of the target change information is the first minimum value based on the updated own best position and the global best position, update the initial orbit information based on the own best position and the global best position to obtain the satellite orbit.

[0152] When the average access rate change information takes the maximum value, the corresponding initial constraint conditions are:

[0153]

[0154] s.t. X min ≤ X ≤ X max (1)

[0155] ω0 + f0 = u0 (2)

[0156] τ(X) = τ m (3)

[0157] a(1 - e) > r min = R E + h min (4)

[0158] 0 ≤ E(X) ≤ ε (5)

[0159]

[0160] where X is the initial orbit information, X max is the maximum value of the initial orbit information, X min is the minimum value of the initial orbit information, ω0 is the argument of perigee at the initial time, f0 is the true anomaly at the initial time, u0 is the latitude parameter at the initial time, τ mTo set the regression period ratio, τ(X) is the regression period ratio, a is the semi-major axis, e is the eccentricity, i is the orbital inclination, a min is the minimum semi-major axis, e min is the minimum eccentricity, i min is the minimum orbital inclination, a max is the maximum semi-major axis, e max is the maximum eccentricity, i max is the maximum orbital inclination, E(X) is the regression error function vector, ε is the threshold vector of the regression error function vector, ε λ is the longitude error threshold, is the latitude error threshold, ε r is the geocentric distance error threshold, is the radial velocity error threshold, R E is the radius of the Earth, h min is the minimum height of the satellite orbit above the ground, r min is the minimum geocentric distance of the satellite.

[0161] The initial constraint condition (1) limits the selection range of the initial orbit information. The initial constraint condition (2) restricts the latitude parameter to remain unchanged at the initial time. The initial constraint condition (3) sets the regression period ratio to the pre-set regression period ratio, ensuring that the designed satellite orbit can perform periodic regression with rational integer multiples for the co-ground track constellation of the seed satellite. The initial constraint condition (4) limits the minimum geocentric distance of the satellite. The initial constraint condition (5) limits the value of the regression error function vector.

[0162] According to the initial constraint condition (4) and the regression period ratio error, determine the constraint condition. Based on the constraint condition, establish the penalty function of the average access rate change information. According to the penalty function, determine the target change information of the average access rate change information:

[0163]

[0164] s.t. X min ≤ X ≤ X max

[0165] ω0 + f0 = u0;

[0166]

[0167] where, -R a + cg(X) is the target change information, X is the initial orbit information, X max is the maximum value of the initial orbit information, X minis the minimum value of the initial orbit information, a is the semi-major axis, e is the eccentricity, c is the penalty coefficient, g(X) is the penalty function, ω0 is the argument of perigee at the initial time, f0 is the true anomaly at the initial time, u0 is the latitude parameter at the initial time, and r min is the minimum geocentric distance of the satellite, and ε λ is the longitude error threshold, is the latitude error threshold, and ε r is the geocentric distance error threshold, is the radial velocity error threshold, Δλ(X) is the longitude error value, is the latitude error value, Δr(X) is the geocentric distance error, ΔVr(X) is the radial velocity error, and ε τ is the regression period ratio error threshold, |τ(X) - τ m | is the regression period ratio error.

[0168] According to the Particle Swarm Optimization algorithm (PSO), the first minimum value of the target change information is solved. Based on the initial orbit information and initial velocity information of the satellite, the first position information and first velocity information of multiple particles are determined; based on the first position information, first velocity information and target change information of each particle, the second minimum value of the target change information of each particle is determined to obtain the personal best position of each particle; in the nth iteration, based on the minimum value among multiple second minimum values, the global best position of multiple particles is determined; based on the personal best position and global best position, the second position information and second velocity information of the particles in the (n + 1)th iteration are determined; based on the second position information, second velocity information and target change information, the personal best position and global best position of the particles are iteratively updated; if based on the updated personal best position and global best position, the value of the target change information is determined to be the first minimum value, then based on the personal best position and global best position, the initial orbit information is updated to obtain the satellite orbit.

[0169] During the iteration process, the particles update their position information and velocity information through the following formula:

[0170]

[0171] where is the velocity information of the kth particle in the (n + 1)th iteration, is the velocity information of the kth particle in the nth iteration, is the position information of the kth particle in the (n + 1)th iteration, is the position information of the kth particle in the nth iteration, c1 is the personal learning factor, c2 is the social learning factor, is the personal best position of the k-th particle, gB n is the global best position of the particle in the n-th iteration. is the inertia weight, and r1 and r2 are different random numbers in the range of (0, 1) respectively.

[0172] Substitute the velocity information and position information of multiple particles into the above target change information to solve the value of the target change information. By comparing the values of the target change information of each particle each time, determine the second minimum value of the target change information. Based on the second minimum value, determine the personal best position of each particle and the global best position of multiple particles. Iteratively update the personal best position and global best position of the particles until the value of the target change information reaches the first minimum value. At this time, update the initial orbit information according to the personal best position and global best position of the particles to obtain the satellite orbit.

[0173] In the embodiment of the present application, by iteratively updating the personal best position and global best position of the particles, and then solving the maximum value of the average access rate change information, the update of the initial orbit information is realized.

[0174] In order to further analyze and explain the satellite orbit determination method provided in the embodiment of the present application, specifically through the following embodiments and Figure 5 are described as follows:

[0175] The user inputs the value range of the initial orbit information and updates the input initial orbit information, which specifically includes:

[0176] Step A: Establish the constraint conditions of the regression error and regression period ratio of the satellite.

[0177] Step A-1: Establish a function of the time-varying orbit information, and determine the value of the orbit information at time t according to the function of the orbit information.

[0178] Step A-2: Introduce the J2 orbit perturbation model. Introduce the J2 orbit perturbation model parameters into the function of the orbit information.

[0179] Step A-3: Calculate the regression period ratio of the satellite.

[0180] Step A-4: According to the longitude error value, latitude error value, geocentric distance error and radial velocity error of the satellite, obtain the regression error function vector of the satellite.

[0181] Step A-5: Calculate the change information of the elevation angle of the ground satellite terminal according to the values of the orbit information at different times t.

[0182] Step B: Establish an optimization problem.

[0183] Step B-1: Obtain the change information of the average access rate of the ground satellite terminal according to the change information of the elevation angle.

[0184] Step B-2: Establish the optimization problem and constraints. The optimization problem is how to maximize the change information of the average access rate. The constraints of the optimization problem are that when the change information of the average access rate reaches the maximum value, the longitude error value is equal to the longitude error threshold, the latitude error value is equal to the latitude error threshold, the geocentric distance error is equal to the geocentric distance error threshold, the radial velocity error is equal to the radial velocity error threshold, and the regression period ratio error is equal to the regression period ratio error threshold.

[0185] Step C: Solve the optimization problem.

[0186] Step C-1: Construct a penalty function according to the constraints, and use the penalty function to transform the optimization problem into an unconstrained optimization problem.

[0187] Step C-2: Use the particle swarm algorithm to solve the unconstrained optimization problem. Update the initial orbit information according to the solution of the unconstrained optimization problem.

[0188] Output the updated initial orbit information.

[0189] The satellite orbit determination method provided by the embodiments of the present application determines target change information according to the average access rate change information, and derives the calculation formula of the average access rate change information of multiple ground satellite terminals in the Repeat Ground Track (RGT) satellite scenario. The embodiments of the present application determine the constraint conditions based on the regression error function vector and the regression period ratio. The embodiments of the present application are designed with time-varying orbit information, taking into account the influence of non-spherical gravitational perturbation, and deriving the sub-satellite point trajectory position equation. Therefore, it is applicable to all non-geostationary earth orbit scenarios based on the RGT orbit. The embodiments of the present application aggregate the non-spherical gravitational perturbation model and the maximum value of the average access rate change information into an optimization problem, and solve the global optimal solution of the optimization problem through the PSO algorithm. The embodiments of the present application are applicable to all non-geostationary earth orbit scenarios based on the RGT orbit. Through simulation verification, it can be effectively applied to high-latitude regions (the design result is an approximate Molniya orbit) and mid-low-latitude regions (the design result is a near-circular orbit), verifying the effectiveness of the design result. The embodiments of the present application not only consider the stability and continuity of the RGT satellite's own orbit, but also add the constraint of the regression period ratio, enabling the ground track of the satellite to repeat periodically under Coordinated Universal Time (UTC), thus meeting the time-domain coverage requirements of ground satellite terminals; determining the target change information according to the average access rate change information can start from the communication requirements of ground satellite terminals for orbit design, thus meeting the airspace coverage requirements; therefore, the satellite orbit of the embodiments of the present application can be effectively applied to the satellite communication system of the integration of space, air and ground. The embodiments of the present application have a simple process, aggregate the non-spherical gravitational perturbation model and the maximum value of the average access rate change information into an optimization problem, and various orders of gravitational perturbation models can be selected during the operation to meet different accuracy requirements; the orbit design result of this proposal does not depend on the selection of the initial value, and only needs to select a suitable parameter range according to the different communication requirements of ground satellite terminals, and the global optimal solution can be obtained through the PSO algorithm. The embodiments of the present application derive the calculation formula of the elevation angle of the ground satellite terminal and the average access rate change information.

[0190] The satellite orbit determination device provided by the embodiments of the present application will be described below. The satellite orbit determination device described below can be mutually referred to the satellite orbit determination method described above. Referring to Figure 6 , Figure 6 is the structural schematic diagram of the satellite orbit determination device provided by the embodiments of the present application. A satellite orbit determination device includes:

[0191] An elevation angle change information acquisition module 601, configured to acquire the elevation angle change information of at least one ground satellite terminal to the satellite;

[0192] The average access rate change information acquisition module 602 is configured to obtain the average access rate change information of at least one ground satellite terminal accessing the satellite based on the regression period of the satellite orbit, the elevation angle change information, and the minimum elevation angle from the ground satellite terminal to the satellite, where the regression period is determined based on the initial orbit information of the satellite orbit;

[0193] The satellite orbit acquisition module 603 is configured to update the initial orbit information based on the constraint condition corresponding to the maximum value of the average access rate change information to obtain the satellite orbit.

[0194] The satellite orbit determination device provided by the embodiment of the present application obtains the elevation angle change information of at least one ground satellite terminal to the satellite; based on the regression period of the satellite orbit, the elevation angle change information, and the minimum elevation angle from the ground satellite terminal to the satellite, obtains the average access rate change information of at least one ground satellite terminal accessing the satellite, where the regression period is determined based on the initial orbit information of the satellite orbit; and updates the initial orbit information based on the constraint condition corresponding to the maximum value of the average access rate change information to obtain the satellite orbit. The embodiment of the present application determines the constraint condition through the maximum value of the average access rate, realizes designing the satellite orbit starting from the communication demand information of the ground satellite terminal, and meets the time domain and space domain coverage requirements of the ground satellite terminal.

[0195] In one embodiment, the satellite orbit acquisition module 603 is configured to: determine the constraint conditions corresponding to the maximum value of the average access rate, including: determining the longitude error value of the satellite based on the difference between the first longitude value and the second longitude value of the satellite, where the first longitude value is the longitude value of the satellite at the initial time, the second longitude value is the longitude value of the satellite at the target time, and the target time is separated from the initial time by one regression period; determining the latitude error value of the satellite based on the difference between the first latitude value and the second latitude value of the satellite, where the first latitude value is the latitude value of the satellite at the initial time, and the second longitude value is the latitude value of the satellite at the target time; determining the geocentric distance error of the satellite based on the difference between the first geocentric distance and the second geocentric distance of the satellite, where the first geocentric distance is the geocentric distance of the satellite at the initial time, and the second geocentric distance is the geocentric distance of the satellite at the target time; determining the radial velocity error of the satellite based on the difference between the first radial velocity and the second radial velocity of the satellite, where the first radial velocity is the radial velocity of the satellite at the initial time, and the second radial velocity is the radial velocity of the satellite at the target time; determining the regression period ratio error of the satellite based on the difference between the regression period ratio of the satellite and the set regression period ratio; determining the longitude error threshold of the longitude error value, the latitude error threshold of the latitude error value, the geocentric distance error threshold of the geocentric distance error, the radial velocity error threshold of the radial velocity error, and the regression period ratio error threshold of the regression period ratio error based on the maximum value; and determining the constraint conditions as that the longitude error value is within the set range of the longitude error threshold, the latitude error value is within the set range of the latitude error threshold, the geocentric distance error is within the set range of the geocentric distance error threshold, the radial velocity error is within the set range of the radial velocity error threshold, and the regression period ratio error is within the set range of the regression period ratio error threshold.

[0196] In one embodiment, the satellite orbit acquisition module 603 is configured to: determine the target change information of the average access rate change information based on the constraint conditions; where the first minimum value of the target change information corresponds to the maximum value of the average access rate change information; determine the first position information and the first velocity information of multiple particles based on the initial orbit information and the initial velocity information of the satellite; determine the second minimum value of the target change information of each particle based on the first position information, the first velocity information, and the target change information of each particle to obtain the self-optimal position of each particle; in the nth iteration, determine the global optimal position of the multiple particles based on the minimum value among the multiple second minimum values; determine the second position information and the second velocity information of the particles in the (n + 1)th iteration based on the self-optimal position and the global optimal position; iteratively update the self-optimal position and the global optimal position of the particles based on the second position information, the second velocity information, and the target change information; and if it is determined that the value of the target change information is the first minimum value based on the updated self-optimal position and global optimal position, update the initial orbit information based on the self-optimal position and the global optimal position to obtain the satellite orbit.

[0197] In one embodiment, the average access rate change information acquisition module 602 is configured to: based on the initial orbit information, obtain the regression period, including: based on the initial orbit information, the J2 orbit perturbation model parameters, the Earth radius, and the Earth's standard gravitational constant, determine the derivative of the mean anomaly of the satellite; based on the initial orbit information, the J2 orbit perturbation model parameters, the Earth radius, and the derivative of the mean anomaly, determine the derivative of the argument of perigee and the derivative of the right ascension of the ascending node of the satellite; based on the derivative of the mean anomaly, the derivative of the argument of perigee, the derivative of the right ascension of the ascending node, and the Earth's rotation speed, determine the regression period ratio, where the regression period ratio is the ratio of the Greenwich node period to the orbit node period of the satellite, and the orbit node period is determined by the derivative of the mean anomaly and the derivative of the argument of perigee; based on the orbit node period and the regression period ratio, obtain the regression period.

[0198] In one embodiment, the elevation angle change information acquisition module 601 is configured to: based on the geocentric longitude of at least one ground satellite terminal, the latitude of at least one ground satellite terminal, the initial orbit information, the geocentric longitude of the satellite at the sub-satellite point, the latitude of the satellite at the sub-satellite point, and the Earth radius, obtain the elevation angle change information, where the geocentric longitude of the satellite at the sub-satellite point and the latitude of the satellite at the sub-satellite point are determined based on the orbit information at different times.

[0199] In one embodiment, the average access rate change information acquisition module 602 is configured to: based on the elevation angle change information, obtain the elevation angle of at least one ground satellite terminal at any moment; based on the comparison result between the elevation angle and the minimum elevation angle, obtain the access rate information of at least one ground satellite terminal accessing the satellite; based on the access rate information and the regression period, obtain the access rate change information of at least one ground satellite terminal accessing the satellite; based on the access rate change information and the number of ground satellite terminals, obtain the average access rate change information.

[0200] In one embodiment, the average access rate change information acquisition module 602 is configured to: when the elevation angle is greater than or equal to the minimum elevation angle, determine that the access value of the ground satellite terminal accessing the satellite is the first access value; when the elevation angle is less than the minimum elevation angle, determine that the access value is the second access value; based on the first access value and the second access value, obtain the access rate information.

[0201] Figure 7 An entity structure diagram of an electronic device is exemplified, as Figure 7As shown in the figure, the electronic device may include: a processor 710, a communication interface 720, a memory 730, and a communication bus 740. Among them, the processor 710, the communication interface 720, and the memory 730 communicate with each other through the communication bus 740. The processor 710 can call the computer program in the memory 730 to execute the satellite orbit determination method, for example, including:

[0202] Obtain the elevation angle change information of at least one ground satellite terminal to the satellite; based on the regression period of the satellite orbit, the elevation angle change information, and the minimum elevation angle of the ground satellite terminal to the satellite, obtain the average access rate change information of at least one ground satellite terminal accessing the satellite. The regression period is determined based on the initial orbit information of the satellite orbit; update the initial orbit information based on the constraint condition corresponding to the maximum value of the average access rate change information to obtain the satellite orbit.

[0203] In addition, when the logical instructions in the above-mentioned memory 730 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0204] On the other hand, the embodiment of the present application also provides a computer program product. The computer program product includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the satellite orbit determination method provided in the above-mentioned embodiments, for example, including:

[0205] Obtain the elevation angle change information of at least one ground satellite terminal to the satellite; based on the regression period of the satellite orbit, the elevation angle change information, and the minimum elevation angle of the ground satellite terminal to the satellite, obtain the average access rate change information of at least one ground satellite terminal accessing the satellite. The regression period is determined based on the initial orbit information of the satellite orbit; update the initial orbit information based on the constraint condition corresponding to the maximum value of the average access rate change information to obtain the satellite orbit.

[0206] On the other hand, an embodiment of the present application further provides a non-transitory computer-readable storage medium storing a computer program for causing a processor to execute the satellite orbit determination method provided in the above embodiments, for example, including:

[0207] Obtain the elevation angle change information of at least one ground satellite terminal to the satellite; based on the regression period of the satellite orbit, the elevation angle change information, and the minimum elevation angle of the ground satellite terminal to the satellite, obtain the average access rate change information of at least one ground satellite terminal accessing the satellite, where the regression period is determined based on the initial orbit information of the satellite orbit; update the initial orbit information based on the constraint condition corresponding to the maximum value of the average access rate change information to obtain the satellite orbit.

[0208] The non-transitory computer-readable storage medium may be any available medium or data storage device accessible by the processor, including but not limited to magnetic memories (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical memories (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor memories (such as ROM, EPROM, EEPROM, non-volatile memories (NAND FLASH), solid-state drives (SSD)).

[0209] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative efforts.

[0210] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disks, optical disks, etc., including several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0211] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

1. A satellite orbit determination method, characterized in that, Including: Obtaining the change information of the elevation angle from at least one ground satellite terminal to the satellite; Based on the regression period of the satellite orbit, the elevation angle change information, and the minimum elevation angle from the ground satellite terminal to the satellite, obtaining the change information of the average access rate for the at least one ground satellite terminal to access the satellite, where the regression period is determined based on the initial orbit information of the satellite orbit; Updating the initial orbit information based on the constraint conditions corresponding to the maximum value of the average access rate change information to obtain the satellite orbit.

2. The satellite orbit determination method according to claim 1, wherein Determining the constraint conditions corresponding to the maximum value of the average access rate includes: Based on the difference between the first longitude value and the second longitude value of the satellite, determining the longitude error value of the satellite, where the first longitude value is the longitude value of the satellite at the initial time, the second longitude value is the longitude value of the satellite at the target time, and the target time is separated from the initial time by one regression period; Based on the difference between the first latitude value and the second latitude value of the satellite, determining the latitude error value of the satellite, where the first latitude value is the latitude value of the satellite at the initial time, and the second longitude value is the latitude value of the satellite at the target time; Based on the difference between the first geocentric distance and the second geocentric distance of the satellite, determining the geocentric distance error of the satellite, where the first geocentric distance is the geocentric distance of the satellite at the initial time, and the second geocentric distance is the geocentric distance of the satellite at the target time; Based on the difference between the first radial velocity and the second radial velocity of the satellite, determining the radial velocity error of the satellite, where the first radial velocity is the radial velocity of the satellite at the initial time, and the second radial velocity is the radial velocity of the satellite at the target time; Based on the difference between the regression period ratio of the satellite and the set regression period ratio, determining the regression period ratio error of the satellite; Based on the maximum value, determining the longitude error threshold of the longitude error value, the latitude error threshold of the latitude error value, the geocentric distance error threshold of the geocentric distance error, the radial velocity error threshold of the radial velocity error, and the regression period ratio error threshold of the regression period ratio error; Determining the constraint conditions as the longitude error value is within the set range of the longitude error threshold, the latitude error value is within the set range of the latitude error threshold, the geocentric distance error is within the set range of the geocentric distance error threshold, the radial velocity error is within the set range of the radial velocity error threshold, and the regression period ratio error is within the set range of the regression period ratio error threshold.

3. The satellite orbit determination method according to claim 1, characterized in that, The updating the initial orbit information based on the constraint conditions corresponding to the maximum value of the average access rate change information to obtain the satellite orbit includes: Based on the constraint conditions, determining the target change information of the average access rate change information; where the first minimum value of the target change information corresponds to the maximum value of the average access rate change information; Based on the initial orbit information and the initial velocity information of the satellite, determining the first position information and the first velocity information of multiple particles; Based on the first position information, the first velocity information, and the target change information of each particle, determine the second minimum value of the target change information of each particle to obtain the personal best position of each particle; In the nth iteration, based on the minimum value among multiple second minimum values, determine the global best position of multiple particles; Based on the personal best position and the global best position, determine the second position information and the second velocity information of the particle in the (n + 1)th iteration; Based on the second position information, the second velocity information, and the target change information, iteratively update the personal best position and the global best position of the particle; If, based on the updated personal best position and the global best position, it is determined that the target change information is the first minimum value, then update the initial orbit information based on the personal best position and the global best position to obtain the satellite orbit.

4. The satellite orbit determination method according to claim 1, wherein Based on the initial orbit information, obtaining the regression period includes: Based on the initial orbit information, the J2 orbit perturbation model parameters, the Earth radius, and the Earth's standard gravitational constant, determine the mean motion derivative of the satellite; Based on the initial orbit information, the J2 orbit perturbation model parameters, the Earth radius, and the mean motion derivative, determine the mean argument of perigee derivative and the mean right ascension of the ascending node derivative of the satellite; Based on the mean motion derivative, the mean argument of perigee derivative, the mean right ascension of the ascending node derivative, and the Earth's rotation speed, determine the regression period ratio of the satellite, where the regression period ratio is the ratio of the Greenwich nodal period to the orbit nodal period of the satellite, and the orbit nodal period is determined by the mean motion derivative and the mean argument of perigee derivative; Based on the orbit nodal period and the regression period ratio, obtain the regression period.

5. The satellite orbit determination method according to claim 1, characterized in that, The obtaining of the elevation angle change information of at least one ground satellite terminal to the satellite includes: Based on the geocentric longitude of at least one ground satellite terminal, the latitude of at least one ground satellite terminal, the initial orbit information, the geocentric longitude of the satellite at the sub-satellite point, the latitude of the satellite at the sub-satellite point, and the Earth radius, obtain the elevation angle change information, where the geocentric longitude of the satellite at the sub-satellite point and the latitude of the satellite at the sub-satellite point are determined based on the orbit information at different times.

6. The satellite orbit determination method according to claim 1, wherein The obtaining of the average access rate change information of at least one ground satellite terminal accessing the satellite based on the regression period of the satellite orbit, the elevation angle change information, and the minimum elevation angle includes: Based on the elevation angle change information, obtain the elevation angle of at least one ground satellite terminal at any moment; Based on the comparison result between the elevation angle and the minimum elevation angle, obtain the access rate information of at least one ground satellite terminal accessing the satellite; Based on the access rate information and the regression period, obtain the access rate change information of at least one ground satellite terminal accessing the satellite; Based on the access rate change information and the number of ground satellite terminals, obtain the average access rate change information.

7. The satellite orbit determination method according to claim 6, wherein Obtaining the access rate information of the at least one terrestrial satellite terminal accessing the satellite based on the comparison result between the elevation angle and the minimum elevation angle includes: When the elevation angle is greater than or equal to the minimum elevation angle, determining that the access value of the terrestrial satellite terminal accessing the satellite is the first access value; When the elevation angle is less than the minimum elevation angle, determining that the access value is the second access value; Obtaining the access rate information based on the first access value and the second access value.

8. A satellite orbit determination device, characterized in that, Including: An elevation angle change information acquisition module, configured to acquire the elevation angle change information of at least one terrestrial satellite terminal to the satellite; An average access rate change information acquisition module, configured to acquire the average access rate change information of the at least one terrestrial satellite terminal accessing the satellite based on the regression period of the satellite orbit, the elevation angle change information, and the minimum elevation angle of the terrestrial satellite terminal to the satellite, where the regression period is determined based on the initial orbit information of the satellite orbit; A satellite orbit acquisition module, configured to update the initial orbit information based on the constraint condition corresponding to the maximum value of the average access rate change information to obtain the satellite orbit.

9. An electronic device, comprising a processor and a memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the satellite orbit determination method according to any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the satellite orbit determination method according to any one of claims 1 to 7.

11. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the satellite orbit determination method according to any one of claims 1 to 7.

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