Method and system for measuring flight motion process of spacecraft in target airspace

Abstract

The invention discloses a method and system for measuring the flight motion process of a spacecraft in a target airspace, and relates to the technical field of deep space measurement, and the method comprises the steps: determining the target airspace in a three-dimensional cone with a target region as a bottom surface and a target foundation antenna as a vertex in real time within a preset time period, obtaining a target airspace of each preset moment in a preset time period, and controlling the target foundation antenna to track the reference point in the preset time period; and in the tracking process, tracking measurement is performed on a downlink signal of the spacecraft in the target airspace through the target foundation antenna at each preset moment, and the tracked and measured downlink signal is processed to obtain flight motion data of the spacecraft. According to the invention, the wireless open-loop measurement of the flight motion process of the spacecraft in the target airspace can be completed, and the flight state of the spacecraft can be further evaluated according to the obtained flight motion data.

Description

Background Art

[0002] For the problem of measuring the motion of spaceborne spacecraft in orbit, the commonly used technical means are ground-based radar measurement, ground-based / space-based optical measurement, etc. However, whether it is ground-based radar measurement or ground-based / space-based optical measurement, many challenges and limitations are faced in specific applications. Ground-based radar measurement has deficiencies such as limited operating range, high operating cost, poor timeliness, and low measurement sensitivity. Specifically:

[0003] Ground-based optical measurement is greatly affected by weather and usually can only work at dawn, dusk, and night, with limited usage time; for the measurement of spacecraft in the lunar gravitational space, when the observed spacecraft is far away, it is difficult to quickly measure information such as the orbit change maneuver and attitude adjustment of the spacecraft through ground-based optical measurement. During the orbit change maneuver and attitude adjustment of an on-orbit spacecraft, almost all have the characteristic of sending downlink signals to facilitate real-time monitoring of the effect of the orbit change maneuver / attitude adjustment of the spacecraft, which provides the necessary conditions for using ground-based radio measurement to measure the orbit and attitude changes of the target spacecraft. Measuring a spacecraft for a specified region of interest on the moon has important application backgrounds, such as determining whether there are spacecraft landing on the lunar surface and performing orbit change maneuvers in this region, which will be very important information.

[0004] In summary, how to adopt relevant design schemes and method approaches to measure the flight motion process of spacecraft in the target airspace is a technical problem worthy of in-depth study. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a method and system for measuring the flight motion process of a spacecraft in a target airspace in view of the deficiencies of the prior art, specifically as follows:

[0006] 1) In the first aspect, the present invention provides a method for measuring the flight motion process of a spacecraft in a target airspace, and the specific technical solution is as follows:

[0007] Within a preset time period, the target airspace within a three-dimensional cone with the target area as the bottom surface and the target ground-based antenna as the vertex is determined in real time, and the target airspace at each preset moment within the preset time period is obtained. The target area is the beam coverage area calculated based on the beam width of the target ground-based antenna, and the center of the beam coverage area is a reference point selected on the moon;

[0008] Within the preset time period, control the target ground-based antenna to track the reference point;

[0009] During the tracking process, at each preset moment, track and measure the downlink signal of the spacecraft in the target airspace through the target ground-based antenna, and process the tracked and measured downlink signal to obtain the flight motion data of the spacecraft.

[0010] The beneficial effects of a measurement method for the flight motion process of a spacecraft in a target airspace provided by the present invention are as follows:

[0011] During the process of controlling the target ground-based antenna to track the reference point, by tracking and measuring the downlink signal of the spacecraft in the target airspace with the target ground-based antenna, radio open-loop measurement of the flight motion process of the spacecraft in the target airspace can be completed. According to the obtained flight motion data, the flight state of the spacecraft can be further evaluated.

[0012] Based on the above solution, a measurement method for the flight motion process of a spacecraft in a target airspace of the present invention can also be improved as follows.

[0013] Further, during a preset time period, controlling the target ground-based antenna to track the reference point includes:

[0014] Calculating the azimuth angle and elevation angle of the target ground-based antenna at each preset moment according to the position of the target ground-based antenna at each preset moment and the position of the reference point at each preset moment within the preset time period;

[0015] Controlling the target ground-based antenna to track the reference point according to the azimuth angle and elevation angle of the target ground-based antenna at each preset moment.

[0016] Further, the position of the target ground-based antenna is characterized by its coordinates in the earth-fixed coordinate system, and the position of the reference point is characterized by its coordinates in the moon-fixed coordinate system.

[0017] Further, processing the tracked and measured downlink signal includes:

[0018] Adopting an open-loop speed measurement analysis method to process the tracked and measured downlink signal, and generating a frequency detection result and a carrier-to-noise ratio detection result of the spacecraft with a matching time stamp.

[0019] 2) In the second aspect, the present invention also provides a measurement system for the flight motion process of a spacecraft in a target airspace. The specific technical solution is as follows:

[0020] Including a target airspace determination module, a tracking module, a tracking measurement module, and a signal processing module;

[0021] The target airspace determination module is used to: during a preset time period, determine in real time the target airspace within a solid cone with the target area as the bottom surface and the target ground-based antenna as the vertex, and obtain the target airspace at each preset moment within the preset time period. The target area is: the beam coverage area calculated based on the beam width of the target ground-based antenna, and the center of the beam coverage area is a reference point selected on the moon;

[0022] The tracking module is used to: control the target ground-based antenna to track a reference point within a preset time period;

[0023] The tracking and measuring module is used to: during the tracking process, at each preset moment, track and measure the downlink signal of the spacecraft in the target airspace through the target ground-based antenna;

[0024] The signal processing module is used to: process the tracked and measured downlink signal to obtain the flight motion data of the spacecraft.

[0025] Based on the above solution, a measurement system for the flight motion process of a spacecraft in a target airspace according to the present invention can also be improved as follows.

[0026] Further, the tracking module is specifically used to:

[0027] Calculate the azimuth angle and elevation angle of the target ground-based antenna at each preset moment according to the position of the target ground-based antenna at each preset moment within the preset time period and the position of the reference point at each preset moment;

[0028] Control the target ground-based antenna to track the reference point according to the azimuth angle and elevation angle of the target ground-based antenna at each preset moment.

[0029] Further, the position of the target ground-based antenna is characterized by its coordinates in the earth-fixed coordinate system, and the position of the reference point is characterized by its coordinates in the moon-fixed coordinate system.

[0030] Further, the signal processing module is specifically used to: adopt an open-loop speed measurement analysis method to process the tracked and measured downlink signal to generate a frequency detection result and a carrier-to-noise ratio detection result of the spacecraft with a matching time mark.

[0031] 3) In a third aspect, the present invention also provides an electronic device, which includes a processor. The processor is coupled to a memory, and at least one computer program is stored in the memory. The at least one computer program is loaded and executed by the processor so that the electronic device implements the measurement method for the flight motion process of a spacecraft in a target airspace in any one of the above items.

[0032] 4) In a fourth aspect, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the measurement method for the flight motion process of a spacecraft in a target airspace in any one of the above items.

[0033] It should be noted that for the beneficial effects obtained by the technical solutions and corresponding possible implementation manners in the second to fourth aspects of the present invention, reference can be made to the technical effects of the first aspect and its corresponding possible implementation manners above, which will not be elaborated here. Brief Description of the Drawings

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for the description of the embodiments of the present invention:

[0035] Figure 1 It is a schematic flowchart of a method for measuring the flight motion process of a spacecraft in a target airspace according to an embodiment of the present invention;

[0036] Figure 2 It is a flowchart of the acquisition and recording of the downlink signal of the spacecraft in the target airspace;

[0037] Figure 3 It is a schematic flowchart of processing the tracked and measured downlink signal;

[0038] Figure 4 It is a schematic flowchart of the evaluation of the flight state of the spacecraft;

[0039] Figure 5 It is a schematic structural diagram of a measurement system for the flight motion process of a spacecraft in a target airspace according to an embodiment of the present invention;

[0040] Figure 6 It is a schematic structural diagram of an electronic device according to an embodiment of the present invention. Detailed Description of the Embodiments

[0041] The following describes the principles and features of the present invention. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0042] The following uses specific embodiments to detail the technical solutions of the present invention and how the technical solutions of the present invention solve the above technical problems. These several specific embodiments can be combined with each other. For the same or similar concepts or processes, they may not be repeated in some embodiments. The following will describe the embodiments of the present invention in conjunction with the drawings.

[0043] As Figure 1 shown, a method for measuring the flight motion process of a spacecraft in a target airspace according to an embodiment of the present invention includes the following steps:

[0044] S1. During a preset time period, the target airspace within a three-dimensional cone with the target area as the bottom surface and the target ground-based antenna as the vertex is determined in real time, and the target airspace at each preset moment within the preset time period is obtained. The target area is: the beam coverage area calculated based on the beam width of the target ground-based antenna, and the center of the beam coverage area is a reference point selected on the moon;

[0045] S2. During the preset time period, control the target ground-based antenna to track the reference point;

[0046] S3. During the tracking process, at each preset moment, the downlink signal of the spacecraft in the target airspace is tracked and measured by the target ground-based antenna, and the tracked and measured downlink signal is processed to obtain the flight motion data of the spacecraft.

[0047] Optionally, in S2, during the preset time period, controlling the target ground-based antenna to track the reference point includes:

[0048] S20. According to the position of the target ground-based antenna at each preset moment and the position of the reference point at each preset moment during the preset time period, calculate the azimuth angle and elevation angle of the target ground-based antenna at each preset moment;

[0049] S21. According to the azimuth angle and elevation angle of the target ground-based antenna at each preset moment, control the target ground-based antenna to track the reference point.

[0050] Optionally, in the above technical solution, the position of the target ground-based antenna is characterized by the coordinates of the target ground-based antenna in the earth-fixed coordinate system, and the position of the reference point is characterized by the coordinates of the reference point in the lunar-fixed coordinate system.

[0051] Optionally, in S3, processing the tracked and measured downlink signal includes:

[0052] S30. Adopt an open-loop velocity measurement analysis method to process the tracked and measured downlink signal to generate a frequency detection result and a carrier-to-noise ratio detection result of the spacecraft with a matching time stamp.

[0053] The following embodiments are used to illustrate a measurement method for the flight motion process of a spacecraft in a target airspace according to the present invention, which specifically includes the following steps:

[0054] S101. Select a reference point on the lunar surface:

[0055] The reference point can be selected from the key areas of concern. For example, the reference point can be a crater, or the reference point can be: the predetermined landing position of any lunar spacecraft known in advance. The position of the reference point is characterized by the coordinates of the reference point in the lunar-fixed coordinate system.

[0056] S102. Determine the target ground-based antenna:

[0057] According to the work plan arrangement of the ground-based antenna resources, select the ground-based antenna that can be called during the specified time period, that is, the preset time period, as the target ground-based antenna. It should be noted that when the number of ground-based antennas that can be called during the target working time period is multiple, any one of the ground-based antennas is selected as the target ground-based antenna. The position of the target ground-based antenna is characterized by the coordinates of the target ground-based antenna in the earth-fixed coordinate system.

[0058] S103. Determine the target airspace at each preset moment, specifically including:

[0059] S1030. Calculate the beam coverage area based on the beam width of the target ground-based antenna. Specifically:

[0060] In the process of radio measurement design for the target airspace (which can also be called the designated lunar airspace), it is necessary to estimate the beam width of the target ground-based antenna to ensure that the spacecraft signals in the target airspace are within the beam width range (beam coverage area) of the antenna.

[0061] Calculate the half-beam width of the target ground-based antenna using the first formula. The first formula is:

[0062]

[0063] where θ 0.5 is the half-beam width of the target ground-based antenna, in degrees; λ is the wavelength of the RF signal received by the target ground-based antenna, in m; and D is the antenna aperture of the target ground-based antenna, in m.

[0064] S1031. Based on the half-beam width θ 0.5 of the target ground-based antenna and the Earth-Moon distance (the distance between the Earth and the Moon), the beam coverage area of the target ground-based antenna on the Moon can be calculated. The center of the beam coverage area is the reference point selected on the Moon, and the beam coverage area can be a region on the lunar surface or a planar region on the lunar section obtained by using the reference point as the tangent point.

[0065] For example, when the beam width of the target ground-based antenna is 0.066°, and when the RF signal received by the target ground-based antenna belongs to the X band, the beam coverage area with a radius of approximately 220 km centered on the crater can be calculated for the target ground-based antenna. For the S band, the beam coverage area with a radius of approximately 820 km centered on the Atlas crater can be calculated for the target ground-based antenna.

[0066] The time duration between two adjacent preset moments can be set according to the actual situation. The shorter the time duration, the higher the accuracy of controlling the target ground-based antenna to track the reference point. The longer the time duration, the lower the accuracy of controlling the target ground-based antenna to track the reference point. Combining S1030 and S1031, the target airspace at each preset moment within the preset time period can be obtained.

[0067] S104. Generate a ground-based antenna guidance file:

[0068] According to the conversion relationship between the geocentric fixed coordinate system and the lunar fixed coordinate system, and combined with the rotation laws of the Earth and the Moon, the azimuth and elevation angles of the target ground-based antenna at each preset moment are calculated, and thus a ground-based antenna guidance file (the ground-based antenna guidance file includes the azimuth and elevation angles of the target ground-based antenna at each preset moment) is obtained.

[0069] Among them, the lunar fixed coordinate system includes the principal axes coordinate system (Principal Axes, PA) and the mean-Earth / mean-Rotation frame (MER). The invention adopts the principal axes coordinate system. The vector r in the lunar fixed coordinate system PA and the vector r in the geocentric fixed coordinate system J2000 The conversion relationship between them is established through Euler angles. The corresponding three Euler angles of the lunar rotation are obtained through numerical integration. The conversion relationship between the geocentric fixed coordinate system and the lunar fixed coordinate system is as follows:

[0070] r J2000 = R3(90° + α0)R1(90° - β0)R3(W)r PA

[0071] Among them, W represents the longitude difference between the intersection of the lunar equator and the zero meridian at the current moment and the intersection of the ICRF equatorial plane, and α0 and β0 respectively represent the right ascension and declination of the pole of the lunar rotation axis.

[0072] The lunar fixed coordinate system and the geocentric fixed coordinate system involve the geocentric coordinates of the Moon, which can be obtained through two ways. One is to obtain them through a high-precision numerical ephemeris, and the other is to obtain them through a low-precision analytical ephemeris. In the guidance of the present invention, the geocentric coordinates of the Moon are obtained through the numerical ephemeris, and the geocentric fixed coordinate system is translated to the lunar fixed coordinate system. Specifically, the geocentric fixed coordinate system is corrected for precession and nutation to obtain the instantaneous true equatorial coordinate system, and then the X-axis of the instantaneous true equatorial coordinate system is rotated around the Z-axis by a Greenwich true sidereal time to obtain the quasi-geocentric fixed coordinate system. Finally, through polar motion correction, the coordinate data of the lunar reference point for guidance in the geocentric fixed coordinate system is obtained.

[0073] S105. According to the ground-based antenna guidance file, control the target ground-based antenna to track the reference point. During the tracking process, at each preset moment, the downlink signal of the spacecraft in the target airspace is tracked and measured through the target ground-based antenna, and the tracked and measured downlink signal is processed to obtain the flight motion data of the spacecraft.

[0074] Among them, according to the frequency band coverage matching relationship of the target ground-based antenna, multiple channels are set in the frequency band of the target ground-based antenna, so that the target ground-based antenna can passively receive the downlink signals (the downlink signals can be radio signals) of the spacecrafts in the target area. The acquisition and recording device adapted to the target ground-based antenna is used to acquire and record the downlink signals of the spacecrafts in the target airspace. The center frequency, sampling bandwidth, quantization bits and acquisition channels of the target ground-based antenna can be set according to the actual situation. The recording format of the downlink signals can refer to the standard VLBI scientific receiver to ensure that the frequency band ranges of multiple channels can cover the deep space X-band range of 8.4 GHz to 8.5 GHz and the S-band range of 2.2 GHz to 2.3 GHz recommended by the International Telecommunication Union, and the number of acquisition channels is set in combination with the specified prior information.

[0075] Among them, the acquisition and recording process of the downlink signals of the spacecrafts in the target airspace is as Figure 2 shown, and specifically includes:

[0076] Overall, the parameters of the acquisition and recording device at the ground antenna end are set according to the prior arc time information, prior frequency information, and specified frequency band coverage analysis. Among them, the prior arc time information is determined according to the visibility period of the ground antenna to the spacecraft, the prior frequency information is determined by the spacecraft downlink signal frequency information mastered in advance, and the specified frequency band coverage analysis considers full-band coverage or important-band coverage of the frequencies of the spacecraft downlink signals mastered in advance. If there is no prior frequency information, multi-channel acquisition is adopted to cover as large a frequency range as possible to ensure receiving the downlink signals of the spacecrafts in the target airspace. The parameter settings of the acquisition and recording device at the ground antenna end specifically include: center frequency, sampling bandwidth, quantization bits, and the number of signal acquisition channels. For example, for observing a certain lunar lander, 4 channels can be used for acquisition; the center frequency covers the main carrier frequency, sub-carrier frequency and two groups of DOR tone frequencies of the lander; considering the Doppler motion relationship between the lander and the ground-based antenna, the opening is set to 200 kHz; considering the influence of the signal recording quantization bits on the measurement signal processing, the quantization bits are set to 8-bit quantization. Finally, according to the preset planned observation time, the downlink signals of the spacecraft are acquired and recorded according to the above parameter settings of the acquisition and recording device at the ground antenna end.

[0077] The process of processing the tracked and measured downlink signals. For the acquired acquisition and recording signals, through spectrum analysis, the channel signals with downlink signals within the observed arc segment are screened out and analyzed. The open-loop velocity measurement analysis method is mainly used to obtain the frequency and carrier-to-noise ratio, and generate the spacecraft frequency detection and carrier-to-noise ratio detection results with matching time stamps. The most critical information in open-loop velocity measurement here is to reconstruct the local model signal based on the frequency estimation result obtained from the spectrum analysis of the carrier signal, perform cross-correlation processing with the received signal, obtain the residual correlation phase, and then obtain the residual frequency to get the frequency estimation result of high-precision open-loop measurement. The specific process of signal processing using the open-loop velocity measurement analysis method is as Figure 3 shown as follows:

[0078] ① Read in the tracked and measured downlink signals, and parse the format of the acquired and recorded spacecraft downlink signals according to the standard VLBI scientific receiver (VSR) format;

[0079] ② Coarse Fourier transform estimation: Perform Fourier transform on the tracked and measured downlink signals, and use the mature fast Fourier transform (FFT) algorithm to extract the carrier frequency of the spacecraft downlink carrier signal;

[0080] ③ CZT spectrum refinement: Perform linear frequency modulation Z transform (CZT) spectrum refinement on the signal obtained in ②, and use the general CZT algorithm to obtain a carrier frequency result with higher frequency resolution. At the same time, based on the CZT method, the carrier frequency at the maximum amplitude is found, and further use the general carrier-to-noise ratio estimation method to obtain the carrier-to-noise ratio detection result of this signal with matching time stamps;

[0081] ④ Signal processing segmentation: Segment the signal obtained in ③, segment it according to time, and the number of segments is generally recommended to be 5, 10, or 20;

[0082] ⑤ Generate a segmented time delay rate model from the frequency: The fitting model of the time delay rate, that is, the segmented time delay rate model, can be obtained through the least square polynomial fitting method:

[0083]

[0084] where is the time delay rate fitting model of the i-th segment signal, K is the number of signal segments, i represents the count of the segment number, t i represents the time stamp of the i-th segment signal, Δf i is the differential frequency of the i-th segment signal, that is, the carrier frequency estimation value f czt obtained by the CZT algorithm minus the theoretical frequency f sky of the spacecraft downlink, n is the fitting order of the least square, p1, p2,..., p n+1is the fitting coefficient, and min represents the operation of calculating the least squares value.

[0085] ⑥ Integrate to obtain the segmented time delay model, and the segmented time delay model is:

[0086]

[0087] ⑦ Reconstruct the local signal model, and the mathematical expression of the reconstructed local model signal is:

[0088] y cons (t i ) = cos(2πf sky (t i -τ(t i )) - 2πf loc t i )

[0089] where y cons (t i ) represents the local reconstructed signal of the i-th segment signal, f sky is the theoretical downlink frequency of the spacecraft, f loc is the local oscillator frequency of the measurement station, and τ(t i ) is the obtained time delay model.

[0090] ⑧ Cross-correlation phase generation and linearization detection: Perform a cross-correlation operation between the local signal model and the carrier signal actually received by the measurement station. In the cross-correlation spectrum, the correlation phase φ max at the point with the largest frequency value is arranged in time for each segment of the correlation phase.

[0091] ⑨ Obtain the residual frequency of the signal: The residual frequency f res is obtained by performing a least squares linear fit on the cross-correlation phase φ max .

[0092] ⑩ Obtain the carrier frequency of the signal: The estimated value of the spacecraft wave frequency is equal to the residual frequency plus the model frequency, and the model frequency is the carrier frequency at the midpoint time scale during each segment of FFT operation.

[0093] Doppler frequency estimation: The Doppler frequency is equal to the estimated value of the spacecraft wave frequency minus the theoretical downlink frequency of the spacecraft, and thus the Doppler frequency detection result with the matching time scale is obtained.

[0094] S106. Evaluate the flight state of the spacecraft, as Figure 4 shown:

[0095] ① Read in the external measurement frequency result of the spacecraft and the carrier-to-noise ratio result of the external measurement signal of the spacecraft. Both the external measurement frequency and the carrier-to-noise ratio result of the signal are obtained from the above signal processing process.

[0096] ②External measurement frequency difference processing. Based on the external measurement frequency results of the spacecraft, external measurement frequency difference processing is performed. The process of difference processing is to perform difference calculation on the external measurement carrier frequency values at the previous and subsequent moments (for example, the previous and subsequent 1 second), that is, subtract the frequency of the previous moment from the frequency of the subsequent moment. If the spacecraft has orbital changes, attitude adjustments, etc. during this process, it will be highlighted through the differential frequency method.

[0097] ③Spectrum analysis and period feature extraction. Spectrum analysis and period feature extraction are respectively performed on the results of external measurement frequency difference processing and the carrier-to-noise ratio results of the spacecraft's external measurement signals. Obvious spectral line structures are found from the spectrum analysis. If there are obvious spectral line results in the spectrum, it indicates that the movement of the spacecraft is periodic. Extract its period features. The period is the reciprocal of the frequency corresponding to the spectral line with the strongest power in the spectrum, and then detect and evaluate the periodic changes in the spacecraft's attitude and orbit;

[0098] ④Based on the carrier-to-noise ratio results of the spacecraft's external measurement signals and the external measurement frequency results of the spacecraft, match the measurement features with the empirical flight motion states. For example, if the frequency and carrier-to-noise ratio change rapidly within a short period of time, it may correspond to the spacecraft performing an orbit change maneuver. If the frequency and carrier-to-noise ratio change periodically, it may correspond to the spacecraft's attitude adjustment motion.

[0099] ⑤Based on the results of detecting and evaluating the periodic changes in attitude and orbit and the results of matching the measurement features with the empirical flight motion states, comprehensively evaluate and judge the flight state of the spacecraft.

[0100] In the above embodiments, although the steps are numbered S1, S2, etc., they are only specific embodiments given by the present invention. Those skilled in the art can adjust the execution order of S1, S2, etc. according to the actual situation, which is also within the protection scope of the present invention. It can be understood that in some embodiments, it may include some or all of the above embodiments.

[0101] As Figure 5 shown, a measurement system 200 for the flight motion process of a spacecraft in a target airspace according to an embodiment of the present invention includes a target airspace determination module 201, a tracking module 202, a tracking measurement module 203, and a signal processing module 204;

[0102] The target airspace determination module 201 is used for: within a preset time period, real-time determine the target airspace within a three-dimensional cone with the target area as the bottom surface and the target ground-based antenna as the vertex, and obtain the target airspace at each preset moment within the preset time period. The target area is: the beam coverage area calculated based on the beam width of the target ground-based antenna, and the center of the beam coverage area is a reference point selected on the moon;

[0103] The tracking module 202 is used for: within a preset time period, control the target ground-based antenna to track the reference point;

[0104] The tracking and measurement module 203 is configured to: during the tracking process, at each preset moment, track and measure the downlink signal of the spacecraft in the target airspace through the target ground-based antenna;

[0105] The signal processing module 204 is configured to: process the tracked and measured downlink signal to obtain the flight motion data of the spacecraft.

[0106] Optionally, in the above technical solution, the tracking module 203 is specifically configured to:

[0107] Calculate the azimuth angle and elevation angle of the target ground-based antenna at each preset moment according to the position of the target ground-based antenna at each preset moment within a preset time period and the position of the reference point at each preset moment;

[0108] Control the target ground-based antenna to track the reference point according to the azimuth angle and elevation angle of the target ground-based antenna at each preset moment.

[0109] Optionally, in the above technical solution, the position of the target ground-based antenna is represented by its coordinates in the earth-fixed coordinate system, and the position of the reference point is represented by its coordinates in the moon-fixed coordinate system.

[0110] Optionally, in the above technical solution, the signal processing module 204 is specifically configured to: adopt an open-loop speed measurement analysis method to process the tracked and measured downlink signal, and generate a frequency detection result and a carrier-to-noise ratio detection result of the spacecraft with a matching time stamp.

[0111] It should be noted that the beneficial effects of the measurement system 200 for the flight motion process of the spacecraft in the target airspace provided in the above embodiments are the same as those of the measurement method for the flight motion process of the spacecraft in the target airspace, and will not be elaborated here. In addition, when the system provided in the above embodiments realizes its functions, only the above-mentioned division of each functional module is used for illustration. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the system can be divided into different functional modules according to the actual situation to complete all or part of the functions described above. In addition, the system provided in the above embodiments and the method embodiments belong to the same concept, and the specific implementation process can be seen in the method embodiments, and will not be elaborated here.

[0112] Among them, the measurement system for the flight motion process of the spacecraft in the target airspace of the present invention can be a computer program (including program code) running in a computer device. For example, the measurement system for the flight motion process of the spacecraft in the target airspace of the present invention is an application software, which can be used to execute the corresponding steps in the measurement method for the flight motion process of the spacecraft in the target airspace of the present invention.

[0113] In some embodiments, the measurement system for the flight motion process of a spacecraft within the target airspace of the present invention can be implemented in a combination of software and hardware. As an example, the measurement system for the flight motion process of a spacecraft within the target airspace of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the measurement method for the flight motion process of a spacecraft within the target airspace of the present invention. For example, a processor in the form of a hardware decoding processor can employ one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0114] Among them, the modules involved in the embodiments of the present invention can be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation on the module itself in some cases.

[0115] An electronic device according to an embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the measurement method for the flight motion process of a spacecraft within the target airspace as described in any of the above items. That is to say, an electronic device according to an embodiment of the present invention may include, but is not limited to: a processor and a memory; the memory is used to store the computer program; the processor is used to execute the measurement method for the flight motion process of a spacecraft within the target airspace shown in any embodiment of the present invention by calling the computer program.

[0116] In an alternative embodiment, an electronic device is provided, as Figure 6 shown. Figure 6 The electronic device 4000 shown includes: a processor 4001 and a memory 4003. Among them, the processor 4001 and the memory 4003 are connected, such as by a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, and the transceiver 4004 can be used for data interaction between this electronic device and other electronic devices, such as data sending and / or data receiving, etc. It should be noted that in practical applications, the transceiver 4004 is not limited to one, and the structure of this electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0117] The processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logic blocks, modules, and circuits described in connection with the disclosure of the present invention. The processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0118] The bus 4002 may include a path for transmitting information between the above components. The bus 4002 may be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 only a thick line is used to represent the bus 4002 in the figure, but it does not mean that there is only one bus or one type of bus.

[0119] The memory 4003 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, or it may also be an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0120] The memory 4003 is used to store the application program code (computer program) for executing the solution of the present invention, and is controlled by the processor 4001 for execution. The processor 4001 is used to execute the application program code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.

[0121] Among them, the electronic device may also be a terminal device, and the terminal device may be any device on which an application can be installed, including at least one of a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart watch, a smart TV, and a smart vehicle-mounted device.

[0122] It should be noted that Figure 6 the illustrated electronic device is only an example, and should not impose any limitations on the functions and usage scope of the embodiments of the present invention.

[0123] A computer-readable storage medium according to an embodiment of the present invention has a computer program stored thereon, and when the computer program is executed by a processor, it implements the measurement method for the flight motion process of a spacecraft within any of the foregoing target airspaces.

[0124] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0125] In an exemplary embodiment, there is also provided a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes the measurement method for the flight motion process of a spacecraft within any of the foregoing target airspaces.

[0126] Computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0127] It should be understood that the flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0128] The computer-readable storage medium provided by the embodiments of the present invention may be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EEPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0129] The above computer-readable storage medium stores one or more programs, which, when executed by the electronic device, cause the electronic device to perform the methods shown in the above embodiments.

[0130] The above description is only a preferred embodiment of the present invention and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of disclosure involved in the present invention is not limited to the technical solutions formed by the specific combination of the above technical features, but also covers other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosure concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having similar functions disclosed in the present invention.

[0131] It should be noted that the terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and represent a limitation on a specific order or sequence. In appropriate cases, the order of use of similar objects can be interchanged so that the embodiments of the present application described herein can be implemented in an order other than the illustrated or described order.

[0132] Those skilled in the art know that the present invention can be implemented as a system, method, or computer program product. Therefore, the present invention can be specifically implemented in the following forms, that is, it can be completely hardware, can also be completely software (including firmware, resident software, microcode, etc.), and can also be in the form of a combination of hardware and software, generally referred to as "circuit", "module", or "system" in this article. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, which contains computer-readable program code.

[0133] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for measuring the flight motion process of a spacecraft within a target airspace, characterized in that, Including: During a preset time period, the target airspace within a three-dimensional cone with the target area as the base and the target ground-based antenna as the vertex is determined in real time, and the target airspace at each preset moment within the preset time period is obtained. The target area is the beam coverage area calculated based on the beam width of the target ground-based antenna, and the center of the beam coverage area is a reference point selected on the moon. During the preset time period, control the target ground-based antenna to track the reference point. During the tracking process, at each preset moment, use the target ground-based antenna to track and measure the downlink signal of the spacecraft in the target airspace, and process the tracked and measured downlink signal to obtain the flight motion data of the spacecraft.

2. The measurement method for the flight motion process of a spacecraft within a target airspace according to claim 1, wherein During the preset time period, controlling the target ground-based antenna to track the reference point includes: According to the position of the target ground-based antenna at each preset moment and the position of the reference point at each preset moment within the preset time period, calculate the azimuth angle and elevation angle of the target ground-based antenna at each preset moment. According to the azimuth angle and elevation angle of the target ground-based antenna at each preset moment, control the target ground-based antenna to track the reference point.

3. The measurement method for the flight motion process of a spacecraft within a target airspace according to claim 1 or 2, characterized in that Characterize the position of the target ground-based antenna by its coordinates in the Earth-fixed coordinate system, and characterize the position of the reference point by its coordinates in the lunar-fixed coordinate system.

4. The measurement method for the flight motion process of a spacecraft within a target airspace according to claim 1 or 2, characterized in that, Processing the tracked and measured downlink signal includes: Using an open-loop speed measurement analysis method to process the tracked and measured downlink signal to generate a frequency detection result and a carrier-to-noise ratio detection result of the spacecraft with matching time stamps.

5. A measurement system for the flight motion process of a spacecraft within a target airspace, characterized in that, Including a target airspace determination module, a tracking module, a tracking measurement module, and a signal processing module; The target airspace determination module is used to: during a preset time period, determine the target airspace within a three-dimensional cone with the target area as the base and the target ground-based antenna as the vertex in real time, and obtain the target airspace at each preset moment within the preset time period. The target area is the beam coverage area calculated based on the beam width of the target ground-based antenna, and the center of the beam coverage area is a reference point selected on the moon. The tracking module is used to: during the preset time period, control the target ground-based antenna to track the reference point. The tracking measurement module is used to: during the tracking process, at each preset moment, use the target ground-based antenna to track and measure the downlink signal of the spacecraft in the target airspace. The signal processing module is used to: process the tracked and measured downlink signal to obtain the flight motion data of the spacecraft.

6. The measurement system for the flight motion process of a spacecraft within a target airspace according to claim 5, characterized in that, The tracking module is specifically used for: According to the position of the target ground-based antenna at each preset moment and the position of the reference point at each preset moment within the preset time period, calculate the azimuth angle and elevation angle of the target ground-based antenna at each preset moment. According to the azimuth angle and elevation angle of the target ground-based antenna at each preset moment, control the target ground-based antenna to track the reference point.

7. A measurement system for the flight motion process of a spacecraft within a target airspace according to claim 5 or 6, characterized in that The position of the target ground-based antenna is characterized by its coordinates in the earth-fixed coordinate system, and the position of the reference point is characterized by its coordinates in the moon-fixed coordinate system.

8. The measurement system for the flight motion process of a spacecraft within a target airspace according to claim 5 or 6, characterized in that The signal processing module is specifically configured to: adopt an open-loop velocity measurement analysis method to process the tracked and measured downlink signal, and generate a frequency detection result and a carrier-to-noise ratio detection result of the spacecraft with a matching time stamp.

9. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements the measurement method of the flight motion process of a spacecraft in a target airspace according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium. When the computer program is executed by the processor, it implements the measurement method of the flight motion process of a spacecraft in a target airspace according to any one of claims 1 to 4.

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