Multi-platform common-view orbit determination method for earth-moon space target

Abstract

The embodiment of the invention discloses a multi-platform common-view orbit determination method for an earth-moon space target, and relates to the technical field of space target orbit determination, and the method comprises the steps: enabling a plurality of observation platforms to observe the same earth-moon space target in the same observation time period, and obtaining a motion data sequence of the observation platforms in the observation time period, obtaining an observation data sequence obtained by observing the earth-moon space target; determining a relative position relationship between the observation platform and the earth-moon space target, constructing a first observation model for the earth-moon space target, and calculating the position and speed of the earth-moon space target at each moment in a corresponding observation time period; and constructing a second observation model, and calculating to obtain an orbit arc section of the earth-moon space target in the corresponding observation time period. The method is small in type limitation of earth-moon space targets, and can adapt to multiple types of orbits; after the initial orbit is successfully determined, orbit refinement can be carried out again by combining original observation data, so that the initial orbit precision is improved.

Description

Technical Field

[0001] The present application relates to the technical field of space target orbit determination, and in particular to a multi-platform common-view orbit determination method for Earth-Moon space targets. Background Art

[0002] Cislunar space generally refers to the space affected by the gravitational pull of the Earth and Moon, including near-Earth space, the cislunar transition space, and lunar space. Targets in cislunar space refer to objects within near-Earth space, the cislunar transition space, or lunar space, such as celestial bodies, spacecraft, and space debris. my country's recent lunar exploration and landing activities and efforts to advance the development of cislunar space require the development of independent and comprehensive cislunar space situational awareness, aimed at detecting and discovering targets in cislunar space, controlling their orbital motion, and providing space collision warning services. The core of this awareness is the development of a catalog of space target orbits.

[0003] The key technologies for building a space object orbit catalog are initial orbit determination and track association. Initial orbit determination (IOD) is used to determine the orbital parameters of the target within an observation arc when no prior orbital information is known. Track association (TA) is used to determine whether arcs belong to the same target. The goal is to cluster a large number of arcs according to their respective targets, thereby improving the accuracy of catalog data.

[0004] Currently, due to the complexity and chaos of the three-body dynamics in Earth-Moon space and the diverse types of target orbits in Earth-Moon space, short-arc initial orbit determination (prediction) is prone to divergence. For example, simulation data shows that in regions above near-Earth space, for a DRO or NRHO orbit, even with initial positions differing by more than ten kilometers and relatively accurate initial velocities, the complexity of the three-body dynamics leads to increased uncertainty in orbital behavior. Even small initial errors can diverge over time, and after three days, the predicted error can reach hundreds or even more than a thousand kilometers. This reduces the accuracy of the initial orbit prediction, leading to significant uncertainty in the orbital state of each arc segment, making segment correlation difficult and potentially leading to erroneous segment correlations, thus compromising the reliability of the entire orbit determination process.

[0005] Therefore, there is currently a lack of a reliable and efficient method for determining the orbit of targets in Earth-Moon space. Summary of the Invention

[0006] The present application provides a multi-platform common-view orbit determination method for Earth-Moon space targets to address the shortcomings of the above-mentioned related technologies. The technical solution is as follows: In a first aspect, an embodiment of the present application provides a multi-platform common-view orbit determination method for an Earth-Moon space target, comprising: Multiple observation platforms observe the same Earth-Moon space target during the same observation period, obtain a motion data sequence of each observation platform during the observation period, and obtain an observation data sequence obtained by each observation platform observing the Earth-Moon space target during the observation period; determining a relative positional relationship between each observation platform and the Earth-Moon space target based on the motion data sequence and the observation data sequence of each observation platform, and constructing a first observation model of the Earth-Moon space target by combining the relative positional relationship, the motion data sequence, and the observation data sequence; Calculating the position and velocity of the Earth-Moon space target at each moment in the corresponding observation period based on the first observation model; A second observation model is constructed based on the position and velocity at each moment, and the orbital arc segment of the Earth-Moon space target in the corresponding observation period is calculated based on the second observation model.

[0007] In an optional solution of the first aspect, after obtaining the motion data sequence of each observation platform within the observation period, the orbit determination method further includes: Converting the motion data sequence into a TOD coordinate system to obtain a converted motion data sequence; wherein the motion data sequence includes motion data of the observation platform at each moment, and the motion data includes the position and velocity of the observation platform; After obtaining the observation data sequence obtained by each observation platform observing the Earth-Moon space target during the observation period, preprocessing the observation data sequence, the method further includes: Convert the optical angle information in the observation data sequence into the TOD coordinate system; Performing binomial fitting on the optical angle information of the Earth-Moon space target observed by each observation platform to obtain fitted right ascension data and declination data of the Earth-Moon space target during the observation period; Derivative the right ascension data and declination data respectively to obtain the right ascension change rate data and declination change rate data; Based on right ascension data, declination data, right ascension change rate data, and declination change rate data, a fitted observation data sequence is obtained; Based on the converted motion data sequence and the fitted observation data sequence, the step of determining the relative position relationship between each observation platform and the Earth-Moon space target based on the motion data sequence and the observation data sequence of each observation platform is performed.

[0008] In an optional solution of the first aspect, determining the relative positional relationship between each observation platform and the Earth-Moon space target based on the motion data sequence and the observation data sequence of each observation platform includes: Based on the motion data sequence of each observation platform, the motion data of each observation platform at the same time is obtained, and the position vector of the corresponding observation platform is determined according to the motion data. Based on the position vector of each observation platform, the unit position vector of the corresponding observation platform in the direction of the origin of the TOD coordinate system is calculated respectively, and the formula is applied: ; Based on the observation data sequence of each observation platform, the observation data obtained by each observation platform at the same time is obtained, and the observation vector of the corresponding observation platform with respect to the Earth-Moon space target in the line of sight direction is determined based on the observation data. Based on the observation vector of each observation platform, the unit observation vector of the corresponding observation platform with respect to the Earth-Moon space target in the line of sight direction is calculated respectively, and the formula is applied: ; The corresponding first virtual plane is constructed based on the origin of each observation platform, the Earth-Moon space target, and the TOD coordinate system. The unit normal vector of the first virtual plane is calculated based on the unit position vector and the unit observation vector of the corresponding observation platform. The formula is applied: ; The second virtual plane is constructed based on the unit normal vector of the first virtual plane corresponding to each observation platform and the unit observation vector of the corresponding observation platform. The unit normal vector of the second virtual plane is calculated and applied using the formula: ; Determining a relative positional relationship between each of the observation platforms and the Earth-Moon space target based on the unit position vector, the unit observation vector, the unit normal vector of the first virtual plane, and the unit normal vector of the second virtual plane; Where i represents the number of the observation platform, which is used to distinguish different observation platforms; For observation platforms Position vector represents the magnitude of the position vector, For observation platforms The unit observation vector of the Earth-Moon space target in the line of sight direction, For observation platforms The observation vector of the Earth-Moon space target in the line of sight direction, is the modulus of the observation vector, For observation platforms The observed right ascension value at the corresponding moment, For observation platforms The observed declination value at the corresponding moment, For observation platforms The corresponding unit normal vector of the first virtual plane, is the unit normal vector With the unit observation vector The unit normal vector of the second virtual plane spanned, For observation platforms The unit position vector of .

[0009] In an optional solution of the first aspect, constructing a first observation model of the Earth-Moon space target by combining the relative position relationship, the motion data sequence, and the observation data sequence includes: Construct the position observation equation of the Earth-Moon space target and apply the formula: ; ; ; Derivative both sides of the position observation equation with respect to time to obtain the velocity observation equation, and apply the formula: ; Determine the parameters in the velocity observation equation and , including the steps of: Calculate the rate of change of the unit observation vector of the observation platform to the Earth and Moon observation targets, as well as the rate of change of the unit position vector of the observation platform, and apply the formula: ; ; Calculate the rate of change of the unit normal vector of each first virtual plane and the rate of change of the unit normal vector of each second virtual plane, applying the formula: ; Calculate the parameters in the velocity observation equation and , apply the formula: ; ; in, is the position vector of the Earth-Moon space target, is the velocity vector of the Earth-Moon space target, For observation platforms The velocity vector, For observation platforms Unit observation vector of Earth-Moon observation targets The rate of change, For observation platforms The unit position vector of The rate of change, The unit normal vector of each first virtual plane The rate of change, The unit normal vector of each second virtual plane The rate of change, T represents the matrix transpose, For observation platforms The rate of change of the position vector, 、 、 、 are all parameters in the velocity observation equation.

[0010] In an optional solution of the first aspect, constructing the second observation model based on the position and velocity at each moment includes: The state vector observation value is obtained based on the position and velocity of the Earth-Moon space target during the observation period, and the formula is applied: ; Based on the changes in the position and velocity of the Earth-Moon space target over time during the observation period, the motion equation of the Earth-Moon space target is established and the application formula is: ; ; The observed state vector at the first moment in the observation period is used as the initial state vector observation value, and the initial state vector observation value is used as the initial value of the initial state vector prediction value of the motion equation. The function that converts the state vector observation value into the initial value of the initial state vector prediction value applies the formula: ; ; The error equation is constructed based on the residual between the initial state vector observation value and the initial state vector prediction value, and the application formula is: ; At the moment corresponding to the initial state, obtain the predicted value of the initial state vector of the first iteration, perform a first-order Taylor expansion approximation on the error equation at the predicted value of the initial state vector of the first iteration, and apply the formula: ; ; Get the second observation model: ; Among them, z is the state vector observation value of the Earth-Moon space target, is the initial state vector observation value, Indicates that during the observation period The kth observation in the corresponding observation time series, including the position and speed ; The position and velocity of the Earth-Moon space target at each moment are expressed as the state vector , is the motion state vector The rate of change over time t; represents the residual matrix, is the initial value of the initial state vector prediction value, A function representing the initial value of the state vector observation z and the initial state vector prediction value, represents the initial value of the initial state vector prediction value of the first iteration, represents the symbol of partial derivative, is the error parameter, Represents the correction amount of the state vector prediction value obtained by the corresponding iterative calculation, is the symbol used to replace the above formula, is the state transition matrix.

[0011] In an optional solution of the first aspect, calculating the orbital arc segment of the Earth-Moon space target within the corresponding observation period based on the second observation model includes: Calculate the correction to the initial state vector prediction using the formula: ; Based on the correction calculated in the jth iteration, the predicted value of the initial state vector for the j-1th iteration is optimized to obtain a new predicted value of the initial state vector. The formula is applied: ; For the correction amount of the jth iteration, determine whether the constraint conditions are met: ; If the correction amount of the j-th iteration does not satisfy the constraint condition, let j be accumulated by 1, and go back to the step of calculating the correction amount of the initial state vector prediction value, and perform the j+1-th iterative calculation until the calculated correction amount satisfies the constraint condition; When the correction amount of the j-th iteration meets the constraint conditions, the predicted value of the initial state vector obtained by the j-th iteration optimization is output; Based on the predicted value of the optimized initial state vector and the kinematic equation of the Earth-Moon space target, the optimized state vector of the Earth-Moon space target at each moment in the observation period is calculated, and based on the optimized state vector, the orbital arc segment of the Earth-Moon space target in the observation period is obtained; in, is the preset iteration limit, is the correction calculated at the jth iteration, is the predicted value of the initial state vector obtained at the j-1th iteration, The new initial state vector prediction value obtained by optimizing the calculation for the jth iteration.

[0012] In an optional solution of the first aspect, the orbit determination method further includes: Get multiple track arc segments; Obtaining a root mean square residual corresponding to each track arc segment; the root mean square residual is calculated based on the difference between the state vector observation value and the state vector prediction value at each observation time within the observation period corresponding to the track arc segment; The root mean square residuals of each two orbital arc segments are compared. When the difference of the root mean square residuals is less than a preset difference threshold, it is determined that the two orbital arc segments whose difference is less than the preset difference threshold belong to the same Earth-Moon space target.

[0013] In a second aspect, an embodiment of the present application further provides a multi-platform common-view orbit determination device for Earth-Moon space targets, comprising: a data acquisition module, configured to acquire a motion data sequence of each observation platform during an observation period, and further configured to acquire an observation data sequence obtained by each observation platform observing the Earth-Moon space target during the observation period; wherein multiple observation platforms observe the same Earth-Moon space target during the same observation period; a first calculation module, configured to determine a relative positional relationship between each observation platform and the Earth-Moon space target based on the motion data sequence and the observation data sequence of each observation platform, and construct a first observation model of the Earth-Moon space target by combining the relative positional relationship, the motion data sequence, and the observation data sequence; The first calculation module is used to calculate the position and velocity of the Earth-Moon space target at each moment in the corresponding observation period based on the first observation model; The second calculation module is used to construct a second observation model based on the position and velocity at each moment, and is also used to calculate the orbital arc segment of the Earth-Moon space target in the corresponding observation period based on the second observation model.

[0014] In a third aspect, an embodiment of the present application further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method provided in the first aspect of the embodiment of the present application or any one of the implementations of the first aspect is implemented.

[0015] In a fourth aspect, the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, it implements the method provided by the first aspect of the embodiment of the present application or any one of the implementation methods of the first aspect.

[0016] The beneficial effects of the technical solutions provided by some embodiments of the present application include at least: The embodiment of the present application provides a multi-platform common-view orbit determination method for Earth-Moon space targets, which has little restriction on the types of Earth-Moon space targets and can adapt to multiple types of orbits. After the initial orbit is successfully determined, the orbit can be refined again in combination with the original observation data to improve the accuracy of the initial orbit. During the orbit refinement of multiple arc segments, the orbit arc segments can be associated with the accuracy of the orbit refinement at the same time, and it can quickly and accurately determine whether the orbit arc segments belong to the same space target. Moreover, the observation equipment can be arranged on some common orbits in the space-based environment, and the initial orbit accuracy can be improved by increasing the observation time. It can solve the technical problems of diverse target types in the Earth-Moon space, difficult initial orbit determination, lack of initial orbit accuracy, and difficult arc segment association. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in this application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a flow chart of a multi-platform common-view orbit determination method for Earth-Moon space targets provided by an embodiment of the present application; Figure 2 Schematic diagram of relative position relationships of a multi-platform common-view orbit determination method for Earth-Moon space targets provided by an embodiment of the present application; Figure 3 This is a schematic structural diagram of a multi-platform common-view orbit determination device for Earth-Moon space targets provided by an embodiment of the present application; Figure 4 It is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0019] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0020] The terms "including" and "having," and any variations thereof, in the specification and claims of this application and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or modules is not limited to the listed steps or modules, but may optionally include steps or modules not listed, or may optionally include other steps or modules inherent to the process, method, product, or apparatus.

[0021] It should be noted that the terms "first" and "second" used in this application are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understood that the terms "first" and "second" may interchangeably represent a specific order or precedence, where permitted. It should be understood that the objects distinguished by "first" and "second" may interchangeably represent a specific order or precedence, where appropriate, such that the embodiments of the present application described herein can be implemented in an order other than that described or illustrated herein.

[0022] The present application is described in detail below with reference to specific embodiments.

[0023] Next, combine Figure 1 , introduces a multi-platform common view orbit determination method for Earth-Moon space targets provided by an embodiment of the present application. For details, please refer to Figure 1 , Figure 1 The following is a flow chart of a method for determining a multi-platform common view orbit for an Earth-Moon space target provided by an embodiment of the present application. Figure 1 As shown, the method includes the following steps: S101, obtaining a motion data sequence of each observation platform during the observation period, and obtaining an observation data sequence obtained by each observation platform observing the Earth-Moon space target during the observation period; wherein multiple observation platforms observe the same Earth-Moon space target during the same observation period; S102: Determine the relative positional relationship between each observation platform and the Earth-Moon space target based on the motion data sequence and the observation data sequence of each observation platform, and construct a first observation model of the Earth-Moon space target by combining the relative positional relationship, the motion data sequence, and the observation data sequence; S103, calculating the position and velocity of the space target at each moment in the corresponding observation period based on the first observation model; S104: construct a second observation model based on the position and velocity at each moment, and calculate the orbital arc of the Earth-Moon space target in the corresponding observation period based on the second observation model.

[0024] In some embodiments, in S101, the observation platform can be a space-based observation platform or a ground-based observation platform, specifically an observation platform equipped with optical monitoring equipment, such as an observation subject such as a satellite running on a typical orbit and equipped with monitoring equipment for observing Earth-Moon space targets, or an observation station set up on the ground. Among them, multiple observation platforms include more than two observation platforms, which can include only space-based platforms, only ground-based platforms, or a mixture of space-based platforms and ground-based platforms. The embodiments of the present application are not limited to this.

[0025] Specifically, the observation platform's motion data sequence can be directly obtained from the observation platform's administrator. The motion data sequence specifically includes the observation platform's position and velocity information during the corresponding observation period. For space-based platforms, the motion data sequence can be described using three-dimensional coordinate information (position and velocity) in an inertial coordinate system or the six elements of an elliptical orbit. The motion data sequence of ground-based platforms can be described using three-dimensional coordinate information (position and velocity) in an inertial coordinate system or position information (longitude, latitude, elevation, etc.) relative to the Earth's surface in a non-inertial coordinate system (earth-fixed system). This application does not limit the specific format.

[0026] Specifically, in S101, the observation platform can observe the same Earth-Moon space target according to a certain observation sampling frequency based on the performance of the corresponding optical monitoring equipment, such as working time, working mode, field of view size of the observation equipment and other parameters.

[0027] Specifically, the observation data sequence observed by the observation platform in S101 is the optical angle information of the observed space target at each observation moment within the observation period, wherein the data observed by the space-based platform can be recorded in the form of right ascension (RA) and declination (Dec), and the data observed by the ground-based observation platform can be recorded in the form of pitch angle and altitude angle.

[0028] In some embodiments, after S101, the observed observation data sequence can be pre-processed to convert the optical angle information in the observation data sequence into a TOD (True of Date) coordinate system. Similarly, the observation platform's motion data sequence is also converted into the TOD coordinate system. The TOD (True of Date) coordinate system is a commonly known instantaneous true celestial coordinate system in the art, commonly used in aerospace, astronomy, and earth sciences. Its coordinate axis directions are based on a true celestial reference datum at the time of observation ("Date"), rather than a fixed epoch (e.g., J2000.0).

[0029] Afterwards, a binomial fitting is performed on the optical angle information of the Earth-Moon space target observed by each observation platform to obtain the fitted right ascension data and declination data of the Earth-Moon space target during the observation period, which are expressed as the fitted right ascension expression and declination expression, respectively. The right ascension expression and declination expression are differentiated to obtain the right ascension change rate expression and declination change rate expression, respectively.

[0030] Taking declination as an example, during the observation period Observe the Earth-Moon space target at the s-th moment in the observation period and obtain the observation value , use ordinary least squares to perform binomial fitting on the observed values, and the fitted right ascension expression is: ; After differentiating the right ascension expression, we get the expression for the right ascension change rate: ; Among them, a, b, and c are all parameters of binomial fitting. Binomial fitting is equivalent to fitting the motion curve of the observed target in the corresponding time period based on the angle information observed at each moment. The values ​​of the binomial fitting parameters a, b, and c determine the specific curve shape, which depends on the specific motion conditions of the observed target and can be calculated through the observation data sequence.

[0031] The expressions of right ascension change rate and declination change rate can also be expressed as follows: ; ; in, It represents the right ascension value observed by the observation platform at the sth observation time, It represents the declination value observed by the observation platform at the sth moment, represents the rate of change of right ascension at the sth moment, Indicates the rate of change of declination at the sth moment, observation period It includes N observation moments, Indicates the observation period The sth moment in the observation period, s represents the observation period in the observation period The number of observation moments depends on the observation sampling frequency of the observation platform, which is not limited in this embodiment of the present application.

[0032] Further, execute step S102 to determine the relative position relationship between each observation platform and the Earth-Moon space target based on the motion data sequence and observation data sequence of each observation platform, and specifically determine the relative position relationship between each observation platform and the observed Earth-Moon space target at the same time.

[0033] According to the description of S101, the motion data sequence of the observation platform is the position and velocity of the observation platform at each moment. First, according to the motion data at any moment in the motion data sequence of the observation platform, the position vector and velocity vector of each corresponding platform in the TOD coordinate system are established respectively. , the corresponding position vector can be expressed as , the velocity vector can be expressed as , the observation platform can be calculated based on the position vector and the modulus of the position vector Unit position vector in the direction of the origin of the TOD coordinate system , apply the formula: ; Where i represents the number of the observation platform, which is used to distinguish different observation platforms; Represents the magnitude of the position vector.

[0034] Furthermore, based on the observation data sequence obtained by each observation platform observing the Earth-Moon space target, the observation vector of the corresponding observation platform in the line of sight (LOS) direction of the Earth-Moon space target is established, and the unit observation vector of the observation platform in the line of sight direction of the Earth-Moon space target can be calculated based on the observation vector and the modulus of the observation vector. The application formula is: ; in, For observation platforms The unit observation vector of the Earth-Moon space target in the line of sight direction, For observation platforms The observation vector of the Earth-Moon space target in the light of sight (LOS) direction, is the modulus of the observation vector, For observation platforms The observed right ascension value at the corresponding moment, For observation platforms The observed declination value at the corresponding moment.

[0035] Furthermore, the first virtual plane corresponding to each observation platform is determined. The first virtual plane is constructed based on the origin (i.e., the center of the Earth) of each observation platform, the Earth-Moon space target, and the TOD coordinate system, and is based on the unit observation vector of the corresponding observation platform. and the unit position vector Calculate the unit normal vector of the first virtual plane and apply the formula: ; in, For observation platforms The first virtual plane OB is constructed with the Earth-Moon space target and the origin of the TOD coordinate system (i.e. the center of the earth) The unit normal vector of For observation platforms The unit position vector of .

[0036] Further, the second virtual plane corresponding to each observation platform is determined, specifically the first virtual plane OB The unit normal vector and the unit observation vector of the corresponding observation platform Construct the second virtual plane, calculate the unit normal vector of the second virtual plane, and apply the formula: ; in, is the unit normal vector With the unit observation vector The unit normal vector of the second spanned virtual plane.

[0037] The relative position relationship between each of the observation platforms and the Earth-Moon space target is determined based on the unit position vector, the unit observation vector, the unit normal vector of the first virtual plane, and the unit normal vector of the second virtual plane.

[0038] For example, taking two observation platforms as an example, the various vectors obtained are determined as follows: Figure 2 As shown, the center of the TOD coordinate system is the center of the earth O, the observed space target is object, denoted as point B, observation platform 1 is denoted as point P1, and observation platform 2 is denoted as point P2. Figure 2 middle, is the position vector of the observed space target, is the position vector of observation platform 1, is the position vector of observation platform 2.

[0039] like Figure 2 For example, the unit position vector of observation platform 1 in the direction of the origin O of the TOD coordinate system is , the unit position vector of observation platform 2 in the direction of the origin O of the TOD coordinate system is , the unit observation vector of observation platform 1 to the Earth-Moon space target B in the line of sight direction is , the unit observation vector of observation platform 2 to the Earth-Moon space target B in the line of sight direction is .

[0040] like Figure 2For example, the first virtual plane formed by platform P1, the center of the earth O, and the observation target B is OBP1. Similarly, the first virtual plane formed by platform P2, the center of the earth O, and the observation target B is OBP2. The unit vector of the normal vector of the first virtual plane OBP1 is , the unit vector of the normal vector of the first virtual plane OBP2 is .

[0041] like Figure 2 For example, and Zhang becomes the second virtual plane corresponding to platform P1, and the unit normal vector of the second virtual plane is , and Zhang becomes the second virtual plane corresponding to platform P2, and the unit normal vector of the second virtual plane is .

[0042] Furthermore, based on the vector information determined above, step S102 is continued to be executed to construct a first observation model for the Earth-Moon space target, specifically including a position observation equation and a velocity observation equation, including the following steps: Specifically, the position vector of the Earth-Moon space target It can be expressed as , velocity vector It can be expressed as , apply the formula: ; ; Among them, x, y, and z correspond to the position coordinates of the Earth-Moon space target respectively. They correspond to the velocity components of the Earth-Moon space targets respectively.

[0043] Determine the observation platform based on the relative position relationship between the Earth-Moon space target and each observation platform The observation vector Unit normal vector to the first virtual plane Vertical, that is ; Determine the observation platform The observation vector Unit normal vector to the second virtual plane Vertical, that is , we get the following equation: ; Combining the above vectors, the position observation equation is expressed as follows: ; Among them, parameters A and b are expressed as the following formula: ; ; Taking the derivative of both sides of the position observation equation with respect to time, the velocity observation equation is expressed as follows: ; In order to determine the parameters in the velocity observation equation and , including the steps of: Computational Observation Platform Unit observation vector of Earth-Moon observation targets rate of change , and observation platforms The unit position vector of The rate of change , apply the formula: ; ; Calculate the unit normal vector of each first virtual plane The rate of change and the unit normal vector of each second virtual plane rate of change , apply the formula: ; Therefore, the parameters and It can be expressed as the following formula: ; ; in, is the position vector of the Earth-Moon space target, is the velocity vector of the Earth-Moon space target, For observation platforms The velocity vector, For observation platforms Unit observation vector of Earth-Moon observation targets The rate of change, For observation platforms The unit position vector of The rate of change, The unit normal vector of each first virtual plane The rate of change, The unit normal vector of each second virtual plane The rate of change, T represents the matrix transpose, For observation platforms The rate of change of the position vector, 、 、 、 are all parameters in the velocity observation equation.

[0044] Through the above calculation process, the position observation equation and velocity observation equation of the observed Earth-Moon space target are obtained.

[0045] Further, step S103 is executed to solve the position observation equation and the velocity observation equation by the ordinary least squares method to obtain the position and velocity of the Earth-Moon space target at each moment.

[0046] The calculation process applies the formula: ; ; Then, the position and velocity of the Earth-Moon space target at each moment during the observation period can be calculated.

[0047] Further, executing step S104, the step of constructing the second observation model includes: S1041, based on the position and velocity of the Earth-Moon space target calculated in S103 during the observation period, obtain the state vector observation value, which is recorded as: ; in, Indicates that during the observation period The kth observation in the corresponding observation time series, including the position and speed .

[0048] In some embodiments, k is generally related to the observation period The number of observations s in the observation period is equal. It is also possible to preprocess all observations after obtaining them to remove obvious abnormal values ​​(such as outliers). If preprocessed, the value of k may be less than or equal to the observation period. The number of observations in s.

[0049] S1042, constructing the motion equation of the Earth-Moon space target, including the steps of: Specifically, the motion equation of the cis-lunar space target is established based on the change of the position and velocity of the cis-lunar space target over time during the observation period. Specifically, the position and velocity at each moment are expressed as the state vector , the motion state vector Derived with respect to time t, expressed as the motion state vector Rate of change over time t , that is, the state change rate vector, the motion equation is specifically expressed as the following formula: ; ; Where x is the state vector consisting of the position and velocity of the Earth-Moon space target during the observation period, is the state change rate vector of the position and velocity of the Earth-Moon space target during the observation period. It can describe the changes in the motion state of Earth-Moon space targets over time during the observation period.

[0050] It can be understood that for each observation moment, the motion equation can be calculated to obtain the predicted value of the state vector at the corresponding moment.

[0051] S1043, select the observation value state vector at the first moment in the observation period as the initial state vector observation value, denoted as , and use the initial state vector observation value as the initial value of the initial state vector prediction value of the motion equation, and convert the state vector observation value z into the initial value of the initial state vector prediction value Function, apply the formula: ; ; Furthermore, S1044, a second observation model is established. The second observation model is specifically an error equation constructed based on the residual between the initial state vector observation value and the initial state vector prediction value, and specifically includes the steps of: Based on the least squares estimation algorithm, the initial state vector prediction value is optimized. The optimized initial state vector prediction value should minimize the value of the least squares objective loss function. The application formula is: ; The error equation can be expressed as: ; At the moment corresponding to the initial state When the initial state vector prediction value of the first iteration is , the error equation is The first-order Taylor expansion approximation is performed at , which is expressed as follows: ; in, is the least squares objective loss function, is the function used to find the minimum value, represents the residual matrix, Represents the initial value of the state vector observation value z and the initial state vector prediction value function, represents the initial value of the initial state vector prediction value of the first iteration, represents the symbol of partial derivative, is the error parameter.

[0052] The second observation model is adjusted using the following formula: ; The adjusted second observation model is expressed as follows: ; in, Represents the correction amount of the state vector prediction value obtained by the corresponding iterative calculation, is the symbol used to replace the above formula, is the state transition matrix.

[0053] Furthermore, S104 also includes solving the second observation model using an iterative least squares algorithm, including the following steps: During the first iteration, we will: A correction amount of an initial value of an initial state vector prediction value is obtained by calculating based on the adjusted second observation model , apply the formula: ; Initial value of the predicted value of the initial state vector based on the correction Perform the first optimization and apply the formula: ; After completing the first iteration, based on the results of the first iteration Continue to the next iteration.

[0054] In the jth iterative calculation, the specific steps include: S201, calculate the correction value of the initial state vector prediction value , apply the formula: ; S202, based on the correction amount calculated in the jth iteration, the initial state vector prediction value of the j-1th iteration is optimized to obtain a new initial state vector prediction value , apply the formula: ; The correction for the jth iteration is , execute S203 to determine whether the constraint conditions are met: ; in, It is a preset iteration limit, which depends on the set orbit determination accuracy and is not limited in this embodiment of the present application.

[0055] If the correction amount of the jth iteration does not satisfy the constraint condition, step S204 is executed: In step S204, let j be accumulated by 1, and go to step S201 to perform the j+1th iterative calculation until the calculated correction value meets the constraint condition.

[0056] When the correction amount of the jth iteration meets the constraint condition, step S205 is executed: S205: Output the initial state vector prediction value obtained by the j-th iterative optimization .

[0057] After iterative calculations in steps S201-S205 above, the optimized initial state vector prediction value is obtained. Combined with the kinematic equation of the Earth-Moon space target, the optimized state vector of the optimized Earth-Moon space target at each moment in the observation period can be calculated, and then the orbital arc segment of the Earth-Moon space target in the observation period can be obtained based on the optimized state vector.

[0058] The initial orbit is determined through the above steps S101-S103, and the initially determined orbit is refined through step S104 to obtain the precise orbit arc segment within the observation period.

[0059] In some embodiments, steps S101 to S104 may be repeated multiple times to obtain multiple accurate track arc segments. The arc segments need to be further associated, including the following steps: Get multiple track arc segments; Obtain the root mean square residual corresponding to each orbital segment; the root mean square residual is calculated based on the difference between the state vector observed value and the state vector predicted value at each observation time within the observation period corresponding to the orbital segment; The root mean square residuals of each two orbital arc segments are compared. When the difference of the root mean square residuals is less than a preset difference threshold, it is determined that the two orbital arc segments whose difference is less than the preset difference threshold belong to the same Earth-Moon space target.

[0060] In some embodiments, multiple orbital arcs belonging to the same Earth-Moon space target can be determined, the orbital arcs belonging to the same Earth-Moon space target can be clustered, and the space target orbit catalog library corresponding to the Earth-Moon space target can be updated, thereby improving the accuracy of the catalog data.

[0061] In a specific embodiment, suitable space targets and observation platforms in the Earth-Moon orbit can be selected. For example, two space-based platforms are selected, as shown in Table 1, with observation platform 1 set on the DRO(a) orbit, observation platform 2 set on the NRHO(a) orbit, and the observed Earth-Moon space target set on the DRO(c) orbit.

[0062] The parameters for setting the simulation include: the three-dimensional position error of the observation platform , the angular measurement error of the optical equipment of the observation platform is , there is no error in the spatial target position.

[0063] It should be noted that due to the particularity of the three orbits, the lunar space targets are visible to the observation platform during the entire observation period. The process of calculating the visibility of the target by the space-based platform is ignored here, and the platform's observation values ​​of the target (such as right ascension and declination) are directly obtained.

[0064] Table 1 Parameters of the platform and target orbits

[0065] Furthermore, the feasibility of determining the initial orbit using the common view of the dual platforms was verified. Three sets of single-point instantaneous positioning experiments were constructed with sampling frequencies of / (1 min), / (10 min), and / (60 min). Each set of simulation experiments sampled three points with the observation time as the intermediate moment to calculate the time rate of change of the angle at the observation time. The positioning result deviation of the common view target of the dual platforms satisfies the deviation formula: ; The first term of the equation represents the position deviation of the two observation platforms, the second Indicates the observation platform The pointing error in the line of sight direction, the third term Indicates the observation platform The length error in the line of sight direction, the errors corresponding to the second and third terms are caused by the angle measurement error of the observation equipment and the geometric distance between the platform and the target.

[0066] The simulation results are shown in Table 2. The orbit determination position deviations calculated with three different sampling rates are similar and conform to the deviation formula of dual-platform common view positioning.

[0067] Table 2 Effects of different sampling rates on the dual-platform orbit determination accuracy

[0068] A sampling rate of ( / 10 min) was selected, and the platform velocity was simulated with noise at different ratios. The experimental results are shown in Table 3. It can be seen that the platform's own velocity error affects the velocity accuracy of the dual-platform common view orbit determination results, but the orbit determination velocity deviation is basically the same order of magnitude as the platform velocity deviation.

[0069] Table 3 The impact of different platform speed accuracy on orbit determination speed accuracy

[0070] Furthermore, multiple arc segments are linked and joint orbits are refined. Although the target is visible to the platform during the observation period, the continuous observation time designed in the simulation is much shorter than the visibility time to simulate the harsh observation conditions.

[0071] Under the simulation conditions of a sampling rate of 10 minutes and a velocity error ratio of 2%, the observation time and intervals for each arc segment observed by the dual platforms were set to be equal. The dual platforms observed the four arc segments of the target DRO(c) with an interval of 2 days between each adjacent segment, so the four arc segments covered approximately half a period.

[0072] The observation duration of a single arc segment simulates two types of short arcs: 1 hour and 4 hours. A single arc of 1 hour has 5 valid data points, and a single arc of 4 hours has 23 valid data points. The initial orbit refinement result can be obtained based on a single arc (Arc1), and then the two single arcs (Arc1 and Arc2) can be combined for trial association. If the orbit determination accuracy is equivalent to that of the single arc, it means that the two arcs belong to the same target, that is, the orbit association and joint refinement are successful at the same time. Otherwise, it means that both the association and the refinement have failed.

[0073] Furthermore, multiple arcs that are successfully associated can continue to participate in the same subsequent operations to gradually improve the initial track accuracy.

[0074] The simulation results are shown in Table 4. From the table, we can conclude that: (1) The accuracy of the four arc segments is consistent, indicating successful correlation. After successful refinement of the 4-hour single arc and four arc segments, the external coincidence positioning error of the orbit is 5.5 km, the 3-day prediction error is 9.1 km, and the 7-day prediction error is 13.3 km. (2) In general, the longer the observation time of a single arc segment, the higher the orbit determination accuracy. The more arc segments there are, the higher the orbit determination accuracy and the higher the prediction accuracy.

[0075] Table 4. Dual-platform common-view DRO(c) multi-arc correlation and orbit refinement results

[0076] Continued:

[0077] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0078] See next Figure 3 , is a schematic diagram of the structure of a multi-platform common-view orbit determination device for Earth-Moon space targets provided by an exemplary embodiment of the present application. The device can be implemented as all or part of a terminal through software, hardware, or a combination of both, and can also be integrated into a server as an independent module. The multi-platform common-view orbit determination device for Earth-Moon space targets in the embodiment of the present application can be applied to a terminal or the cloud. The device 30 includes a data acquisition module 301, a first calculation module 302, and a second calculation module 303, wherein: The data acquisition module 301 is used to acquire the motion data sequence of each observation platform during the observation period, and is also used to acquire the observation data sequence obtained by each observation platform observing the Earth-Moon space target during the observation period; wherein, multiple observation platforms observe the same Earth-Moon space target during the same observation period, The first calculation module 302 is configured to determine the relative position relationship between each observation platform and the Earth-Moon space target based on the motion data sequence and the observation data sequence of each observation platform, and construct a first observation model of the Earth-Moon space target by combining the relative position relationship, the motion data sequence, and the observation data sequence; The first calculation module 302 is configured to calculate the position and velocity of the Earth-Moon space target at each moment in the corresponding observation period based on the first observation model; The second calculation module 303 is used to construct a second observation model based on the position and velocity at each moment, and is also used to calculate the orbital arc segment of the Earth-Moon space target in the corresponding observation period based on the second observation model.

[0079] It should be noted that the device 30 provided in the above embodiment, when performing the method for determining a multi-platform common-view orbit for a target in Earth-Moon space, is merely illustrated by the division of the aforementioned functional modules. In actual applications, the aforementioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. Furthermore, the device provided in the above embodiment and the embodiment of the method for determining a multi-platform common-view orbit for a target in Earth-Moon space are based on the same concept. The implementation process is detailed in the method embodiment and will not be repeated here.

[0080] An embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the method of any of the above embodiments are implemented.

[0081] See Figure 4 , is a structural block diagram of an electronic device provided in an embodiment of the present application.

[0082] like Figure 4 As shown, the electronic device 400 includes a processor 401 and a memory 402 .

[0083] In the embodiment of the present application, the processor 401 is the control center of the computer system and can be the processor of a physical machine or the processor of a virtual machine. The processor 401 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 401 can be implemented in the form of at least one hardware selected from the group consisting of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array).

[0084] The processor 401 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state.

[0085] The memory 402 may include one or more computer-readable storage media, which may be non-transitory. The memory 402 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash memory storage devices. In some embodiments of the present application, the non-transitory computer-readable storage medium in the memory 402 is used to store at least one instruction, which is used to be executed by the processor 401 to implement the method in the embodiment of the present application.

[0086] In some embodiments, the electronic device 400 further includes a peripheral device interface 403 and at least one peripheral device 404. The processor 401, memory 402, and peripheral device interface 403 may be connected via a bus or signal lines. Each peripheral device 404 may be connected to the peripheral device interface 403 via a bus, signal lines, or circuit boards. Specifically, the peripheral devices 404 include a display screen, a camera, and an audio circuit. The peripheral device interface 403 may be used to connect at least one I / O (Input / Output)-related peripheral device to the processor 401 and memory 402.

[0087] In some embodiments of the present application, the processor 401, the memory 402, and the peripheral device interface 403 are integrated on the same chip or circuit board; in some other embodiments of the present application, any one or two of the processor 401, the memory 402, and the peripheral device interface 403 may be implemented on separate chips or circuit boards. This embodiment of the present application is not specifically limited to this.

[0088] The electronic device structure block diagram shown in the embodiment of the present application does not constitute a limitation on the electronic device 400. The electronic device 400 may include more or fewer components than shown in the figure, or combine certain components, or adopt a different component arrangement.

[0089] The present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method of any of the aforementioned embodiments. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a microdrive and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic or optical card, a nanosystem (including a molecular memory IC), or any other type of medium or device suitable for storing instructions and / or data.

[0090] Through the description of the above embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the relevant technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0091] 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A multi-platform common view orbit determination method for Earth-Moon space targets, characterized by: include: Multiple observation platforms observe the same Earth-Moon space target during the same observation period, obtain a motion data sequence of each observation platform during the observation period, and obtain an observation data sequence obtained by each observation platform observing the Earth-Moon space target during the observation period; determining a relative positional relationship between each observation platform and the Earth-Moon space target based on the motion data sequence and the observation data sequence of each observation platform, and constructing a first observation model of the Earth-Moon space target by combining the relative positional relationship, the motion data sequence, and the observation data sequence; Calculating the position and velocity of the Earth-Moon space target at each moment in the corresponding observation period based on the first observation model; A second observation model is constructed based on the position and velocity at each moment, and the orbital arc segment of the Earth-Moon space target in the corresponding observation period is calculated based on the second observation model.

2. The multi-platform common view orbit determination method for Earth-Moon space targets according to claim 1, characterized in that: After obtaining the motion data sequence of each observation platform within the observation period, the orbit determination method further includes: Converting the motion data sequence into a TOD coordinate system to obtain a converted motion data sequence; wherein the motion data sequence includes motion data of the observation platform at each moment, and the motion data includes the position and velocity of the observation platform; After obtaining the observation data sequence obtained by each observation platform observing the Earth-Moon space target during the observation period, preprocessing the observation data sequence, the method further includes: Convert the optical angle information in the observation data sequence into the TOD coordinate system; Performing binomial fitting on the optical angle information of the Earth-Moon space target observed by each observation platform to obtain fitted right ascension data and declination data of the Earth-Moon space target during the observation period; Derivative the right ascension data and declination data respectively to obtain the right ascension change rate data and declination change rate data; Based on right ascension data, declination data, right ascension change rate data, and declination change rate data, a fitted observation data sequence is obtained; Based on the converted motion data sequence and the fitted observation data sequence, the step of determining the relative position relationship between each observation platform and the Earth-Moon space target based on the motion data sequence and the observation data sequence of each observation platform is performed.

3. The multi-platform common view orbit determination method for Earth-Moon space targets according to claim 2, characterized in that: Determining the relative positional relationship between each observation platform and the Earth-Moon space target based on the motion data sequence and the observation data sequence of each observation platform includes: Based on the motion data sequence of each observation platform, the motion data of each observation platform at the same time is obtained, and the position vector of the corresponding observation platform is determined according to the motion data. Based on the position vector of each observation platform, the unit position vector of the corresponding observation platform in the direction of the origin of the TOD coordinate system is calculated respectively, and the formula is applied: ； Based on the observation data sequence of each observation platform, the observation data obtained by each observation platform at the same time is obtained, and the observation vector of the corresponding observation platform with respect to the Earth-Moon space target in the line of sight direction is determined based on the observation data. Based on the observation vector of each observation platform, the unit observation vector of the corresponding observation platform with respect to the Earth-Moon space target in the line of sight direction is calculated respectively, and the formula is applied: ； The corresponding first virtual plane is constructed based on the origin of each observation platform, the Earth-Moon space target, and the TOD coordinate system. The unit normal vector of the first virtual plane is calculated based on the unit position vector and the unit observation vector of the corresponding observation platform. The formula is applied: ； The second virtual plane is constructed based on the unit normal vector of the first virtual plane corresponding to each observation platform and the unit observation vector of the corresponding observation platform. The unit normal vector of the second virtual plane is calculated and applied using the formula: ； Determining a relative positional relationship between each of the observation platforms and the Earth-Moon space target based on the unit position vector, the unit observation vector, the unit normal vector of the first virtual plane, and the unit normal vector of the second virtual plane; Where i represents the number of the observation platform, which is used to distinguish different observation platforms; For observation platforms Position vector represents the magnitude of the position vector, For observation platforms The unit observation vector of the Earth-Moon space target in the line of sight direction, For observation platforms The observation vector of the Earth-Moon space target in the line of sight direction, is the modulus of the observation vector, For observation platforms The observed right ascension value at the corresponding moment, For observation platforms The observed declination value at the corresponding moment, For observation platforms The corresponding unit normal vector of the first virtual plane, is the unit normal vector With the unit observation vector The unit normal vector of the second virtual plane spanned, For observation platforms The unit position vector of .

4. The multi-platform common view orbit determination method for Earth-Moon space targets according to claim 3, characterized in that: The first observation model of the Earth-Moon space target is constructed by combining the relative position relationship, the motion data sequence, and the observation data sequence, including: Construct the position observation equation of the Earth-Moon space target and apply the formula: ； ； ; Derivative both sides of the position observation equation with respect to time to obtain the velocity observation equation, and apply the formula: ； Determine the parameters in the velocity observation equation and , including the steps of: Calculate the rate of change of the unit observation vector of the observation platform to the Earth and Moon observation targets, as well as the rate of change of the unit position vector of the observation platform, and apply the formula: ; ； Calculate the rate of change of the unit normal vector of each first virtual plane and the rate of change of the unit normal vector of each second virtual plane, applying the formula: ; Calculate the parameters in the velocity observation equation and , apply the formula: ； ; in, is the position vector of the Earth-Moon space target, is the velocity vector of the Earth-Moon space target, For observation platforms The velocity vector, For observation platforms Unit observation vector of Earth-Moon observation targets The rate of change, For observation platforms The unit position vector of The rate of change, The unit normal vector of each first virtual plane The rate of change, The unit normal vector of each second virtual plane The rate of change, T represents the matrix transpose, For observation platforms The rate of change of the position vector, 、 、 、 are all parameters in the velocity observation equation.

5. The multi-platform common view orbit determination method for Earth-Moon space targets according to claim 4, characterized in that: The constructing of a second observation model based on the position and velocity at each moment includes: The state vector observation value is obtained based on the position and velocity of the Earth-Moon space target during the observation period, and the formula is applied: ； Based on the changes in the position and velocity of the Earth-Moon space target over time during the observation period, the motion equation of the Earth-Moon space target is established and the application formula is: ; ; The observed state vector at the first moment in the observation period is used as the initial state vector observation value, and the initial state vector observation value is used as the initial value of the initial state vector prediction value of the motion equation. The function that converts the state vector observation value into the initial value of the initial state vector prediction value applies the formula: ; ； The error equation is constructed based on the residual between the initial state vector observation value and the initial state vector prediction value, and the application formula is: ； At the moment corresponding to the initial state, obtain the predicted value of the initial state vector of the first iteration, perform a first-order Taylor expansion approximation on the error equation at the predicted value of the initial state vector of the first iteration, and apply the formula: ； ； Get the second observation model: ； Among them, z is the state vector observation value of the Earth-Moon space target, is the initial state vector observation value, Indicates that during the observation period The kth observation in the corresponding observation time series, including the position and speed ; The position and velocity of the Earth-Moon space target at each moment are expressed as the state vector , is the motion state vector The rate of change over time t; represents the residual matrix, is the initial value of the initial state vector prediction value, A function representing the initial value of the state vector observation z and the initial state vector prediction value, represents the initial value of the initial state vector prediction value of the first iteration, represents the symbol of partial derivative, is the error parameter, Represents the correction amount of the state vector prediction value obtained by the corresponding iterative calculation, is the symbol used to replace the above formula, is the state transition matrix.

6. The multi-platform common view orbit determination method for Earth-Moon space targets according to claim 5, characterized in that: The calculating, based on the second observation model, of the orbital arc segment of the Earth-Moon space target within the corresponding observation period includes: Calculate the correction to the initial state vector prediction using the formula: ； Based on the correction calculated in the jth iteration, the predicted value of the initial state vector for the j-1th iteration is optimized to obtain a new predicted value of the initial state vector. The formula is applied: ; For the correction amount of the jth iteration, determine whether the constraint conditions are met: ; If the correction amount of the j-th iteration does not satisfy the constraint condition, let j be accumulated by 1, and go back to the step of calculating the correction amount of the initial state vector prediction value, and perform the j+1-th iterative calculation until the calculated correction amount satisfies the constraint condition; When the correction amount of the jth iteration meets the constraint conditions, the predicted value of the initial state vector obtained by the jth iteration optimization is output; Based on the predicted value of the optimized initial state vector and the kinematic equation of the Earth-Moon space target, the optimized state vector of the Earth-Moon space target at each moment in the observation period is calculated, and based on the optimized state vector, the orbital arc segment of the Earth-Moon space target in the observation period is obtained; in, is the preset iteration limit, is the correction calculated at the jth iteration, is the predicted value of the initial state vector obtained at the j-1th iteration, The new initial state vector prediction value obtained by optimizing the calculation for the jth iteration.

7. A multi-platform common-view orbit determination method for Earth-Moon space targets according to any one of claims 1 to 6, characterized in that: The track determination method further includes: Get multiple track arc segments; Obtaining a root mean square residual corresponding to each track arc segment; the root mean square residual is calculated based on the difference between the state vector observation value and the state vector prediction value at each observation time within the observation period corresponding to the track arc segment; The root mean square residuals of each two orbital arc segments are compared. When the difference of the root mean square residuals is less than a preset difference threshold, it is determined that the two orbital arc segments whose difference is less than the preset difference threshold belong to the same Earth-Moon space target.

8. A multi-platform common-view orbit determination device for Earth-Moon space targets, characterized by: include: a data acquisition module, configured to acquire a motion data sequence of each observation platform during an observation period, and further configured to acquire an observation data sequence obtained by each observation platform observing the Earth-Moon space target during the observation period; wherein multiple observation platforms observe the same Earth-Moon space target during the same observation period; a first calculation module, configured to determine a relative positional relationship between each observation platform and the Earth-Moon space target based on the motion data sequence and the observation data sequence of each observation platform, and construct a first observation model of the Earth-Moon space target by combining the relative positional relationship, the motion data sequence, and the observation data sequence; The first calculation module is used to calculate the position and velocity of the Earth-Moon space target at each moment in the corresponding observation period based on the first observation model; The second calculation module is used to construct a second observation model based on the position and velocity at each moment, and is also used to calculate the orbital arc segment of the Earth-Moon space target in the corresponding observation period based on the second observation model.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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