Orbit determination method of satellite and ground operation control center

Abstract

The invention discloses a satellite orbit determination method and a ground operation control center, and the method is applied to the ground operation control center, and comprises the steps: obtaining a first state parameter of a first satellite at a first moment; observation data received by the first satellite from the target satellite at the target moment are obtained, first observation data are obtained, the operation orbit of the target satellite is higher than that of the first satellite, and the first moment is the moment before the target moment; determining a second state parameter of the first satellite at the target moment based on the first state parameter; and determining a target state parameter of the target satellite at the target moment based on the second state parameter and the first observation data. Through the method and the device, the problem that the maneuvering satellite cannot accurately determine the orbit in the related technology is solved, and the effect of improving the satellite orbit determination accuracy is further achieved.

Description

Technical Field

[0001] This application relates to the field of communications, and more specifically, to a satellite orbit determination method and a ground operation control center. Background Technology

[0002] A Global Navigation Satellite System (GNSS) is a system composed of a group of satellites that provides positioning, navigation, and timing services to users on Earth's surface. However, while in orbit, navigation satellites are subject to perturbations that cause them to deviate from their original designed orbits, affecting the constellation's geometry. They then need to use their onboard propulsion systems to adjust their orbital positions and restore them to their original designed orbital range or constellation geometry.

[0003] In actual operation, maneuvering thrust in different directions has varying effects on satellite orbits, making precise modeling difficult. This means that for satellites subjected to maneuvering thrust, the intervention of orbital maneuvering thrust prevents the use of conventional orbital mechanics models for precise orbit determination. Consequently, real-time and post-event precise satellite orbit and clock bias products are often missing or incorrect, reducing the integrity, continuity, and reliability of precision service products. This is especially true for actual GNSS systems, where frequent orbital maneuvers typically result in unavailability for tens of hours before and after navigation satellite maneuvers, further reducing the continuity and availability of the actual system service.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This application provides a satellite orbit determination method and a ground operation control center to at least solve the technical problem in the related art that mobile satellites cannot accurately determine their orbits.

[0006] According to one aspect of the embodiments of this application, a satellite orbit determination method is provided, applied to a ground operation control center, comprising: acquiring first state parameters of a first satellite at a first moment; acquiring observation data received by the first satellite from a target satellite at a target moment to obtain first observation data, wherein the orbit of the target satellite is higher than the orbit of the first satellite, and the first moment is a moment prior to the target moment; determining second state parameters of the first satellite at the target moment based on the first state parameters; and determining target state parameters of the target satellite at the target moment based on the second state parameters and the first observation data.

[0007] In an exemplary embodiment, determining the target state parameters of the target satellite at the target time based on the second state parameters and the first observation data includes: determining the third state parameters of the target satellite at the target time based on the second state parameters and the first observation data; and determining the target state parameters based on the third state parameters and the first observation data.

[0008] In an exemplary embodiment, determining the target state parameters based on the third state parameters and the first observation data includes: determining the observation model of the target satellite based on the first observation data; and determining the target state parameters based on the observation model, the third state parameters, and the first observation data.

[0009] In an exemplary embodiment, determining the target state parameters based on the observation model, the third state parameter, and the first observation data includes: determining the Kalman gain matrix of the target satellite based on the observation model; and updating the third state parameter using the Kalman gain matrix and the first observation data to obtain the target state parameters.

[0010] In an exemplary embodiment, before determining the target state parameters of the target satellite at the target time based on the second state parameters and the first observation data, the method further includes: acquiring the state parameters of N second satellites at the first time to obtain N fourth state parameters, wherein the N second satellites include the target satellite and N is an integer; acquiring the state parameters of N second satellites at the second time to obtain N fifth state parameters, wherein the second time is a time before the target time; and determining the target satellite based on the N fourth state parameters and the N fifth state parameters.

[0011] In one exemplary embodiment, determining a target satellite based on N fourth state parameters and N fifth state parameters includes: acquiring observation data received by a first satellite from each of the second satellites at a first time moment to obtain N second observation data; determining the position of each of the second satellites at a target time moment based on the N fourth state parameters and the N second observation data to obtain N first positions; acquiring observation data received by the first satellite from each of the second satellites at a second time moment to obtain N third observation data; determining the position of each of the second satellites at the target time moment based on the N fifth state parameters and the N third observation data to obtain N second positions; and determining the target satellite based on the first and second positions of each of the second satellites.

[0012] In one exemplary embodiment, determining a target satellite based on the first and second positions of each second satellite includes: determining a target deviation of each second satellite based on the first and second positions of each second satellite; and determining the second satellite corresponding to a target deviation greater than a preset deviation threshold as the target satellite.

[0013] In one exemplary embodiment, the first satellite, the second satellite, and the target satellite are navigation satellites.

[0014] According to another aspect of the embodiments of this application, a ground operation control center is also provided, including 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 performs the following operations: acquiring first state parameters of a first satellite at a first moment; acquiring observation data received by the first satellite from a target satellite at a target moment to obtain first observation data, wherein the orbit of the target satellite is higher than the orbit of the first satellite, and the first moment is a moment before the target moment; determining second state parameters of the first satellite at the target moment based on the first state parameters; and determining target state parameters of the target satellite at the target moment based on the second state parameters and the first observation data.

[0015] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed by a processor.

[0016] According to another aspect of the embodiments of this application, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform the steps in any of the method embodiments described above.

[0017] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to perform the steps in any of the above method embodiments through the computer program.

[0018] This application obtains the first state parameters of the first satellite at a first moment and the first observation data received by the first satellite from the target satellite at the target moment. Based on the first state parameters, the second state parameters of the first satellite at the target moment are determined. Then, based on the second state parameters and the first observation data, the target state parameters of the target satellite at the target moment are determined.

[0019] Because ground control centers can accurately determine the status information and GNSS observation data of LEO satellites, they can determine the orbit of maneuvering satellites based on the high-precision orbit and clock error results of LEO satellites and the real-time observation data of maneuvering satellites acquired by LEO satellites. This significantly improves the accuracy of orbit determination for maneuvering satellites, avoiding the situation where conventional dynamic models cannot accurately determine the orbit of maneuvering satellites due to the difficulty in accurately modeling maneuvering thrust and obtaining the specific parameters of maneuvering forces in real time. This ensures the continuity and accuracy of navigation services when GNSS satellites are performing orbital maneuvers or encountering environmental changes, improving the accuracy, continuity, and availability of GNSS satellite services. Therefore, it can solve the problem of inaccurate orbit determination of maneuvering satellites in related technologies, achieving the effect of improving orbit determination accuracy. Attached Figure Description

[0020] Figure 1 This is a flowchart of a satellite orbit determination method according to an embodiment of this application;

[0021] Figure 2 This is a schematic diagram of the composition of a low-orbit communication and navigation fusion system with enhanced orbital maneuvering GNSS satellites according to an embodiment of this application;

[0022] Figure 3 This is a schematic diagram of the low-orbit communication and navigation fusion system for enhancing navigation information in orbital maneuvering GNSS satellites according to an embodiment of this application;

[0023] Figure 4 This is a structural block diagram of a ground operation control center according to an embodiment of this application. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] This embodiment provides a satellite orbit determination method. Figure 1 This is a flowchart of a satellite orbit determination method according to an embodiment of this application, such as... Figure 1 As shown, this process is applied to the ground operations control center and includes the following steps:

[0027] Step S102: Obtain the first state parameters of the first satellite at the first moment;

[0028] The aforementioned first satellite could be a low Earth orbit (LEO) satellite, which operates at a relatively close altitude to the Earth's surface and has characteristics such as a short orbital period and a large orbital inclination. It is typically used to provide services such as low-latency communication, Earth observation, navigation enhancement, and scientific experiments.

[0029] The aforementioned "first moment" can be any point in time during the operation of the first satellite (such as satellite startup, orbital maneuvering, normal operation, or communication with the ground station), and is usually selected based on the actual monitoring or analysis of the LEO satellite's status. For example, when precise orbit determination of an LEO satellite is required, the first moment can be a point in time before the orbit determination is performed.

[0030] The aforementioned first state parameter can be the state information of the first satellite at a given moment, such as position parameters, velocity parameters, orbital elements, acceleration parameters, attitude parameters, and clock parameters. This parameter can be collected in real time by sensors onboard the satellite (such as inertial measurement units, star sensors, and onboard receivers) and transmitted back to the ground, or it can be obtained directly through ground monitoring stations tracking and observing the satellite, such as receiving signals from LEO satellites and analyzing their Doppler shift, pseudorange, etc. By monitoring the state parameters of LEO satellites, the system can predict their orbital model in real time, thereby providing continuous and accurate positioning and timing services.

[0031] The aforementioned ground control center can be a ground facility for monitoring and managing satellite operations. This ground control center is a core component of the ground support system for spacecraft (including satellites, space stations, etc.), and is mainly responsible for satellite orbit control, attitude control, data transmission, fault diagnosis and repair, etc.

[0032] When it is necessary to determine the orbit of a satellite, the ground operation control center obtains the first satellite's position, velocity, clock difference, pseudorange, and other first-state parameters at the first moment.

[0033] Step S104: Obtain the observation data received by the first satellite from the target satellite at the target time to obtain the first observation data, wherein the orbit of the target satellite is higher than the orbit of the first satellite, and the first time is the time before the target time;

[0034] The aforementioned target satellite can be a maneuvering satellite, specifically a GNSS satellite within a Global Navigation Satellite System (GNSS) that is subject to maneuvering. GNSS satellites typically operate in medium Earth orbit. Compared to LEO satellites, GNSS satellites orbit at higher altitudes, offer wider coverage, and provide more stable signal transmission. They are commonly used to provide global positioning, navigation, and timing services.

[0035] During their operation in orbit, GNSS satellites are affected by perturbations such as the gravitational pull of the Sun and Moon, the non-spherical gravity of the Earth, and the resonance of the Earth's rotation, causing them to deviate from their original designed orbits and even affecting the constellation's geometry. Therefore, they need to use their onboard propulsion systems to adjust their orbital positions, using maneuvering to restore them to their original designed orbital range or constellation geometry. Common GNSS systems include GPS (Global Positioning System), GLONASS (Global Navigation Satellite System), Galileo (Galileo Satellite Navigation System), and BDS (BeiDou Navigation Satellite System).

[0036] The target time mentioned above can be any point in time after the first moment, where precise measurements, orbit determination, or status assessment are required. In satellite communication and monitoring applications, the first moment and the target time are usually determined precisely through a satellite time system or by time synchronization with a ground station.

[0037] The aforementioned first observation data can be the observation data received and processed by the onboard GNSS receiver of the first satellite from the target satellite at the target time. This observation data includes pseudorange, carrier phase, Doppler shift, etc. By analyzing and processing the first observation data, the satellite's orbit and clock bias can be estimated and adjusted in real time and accurately, thereby improving the accuracy and availability of its navigation services.

[0038] At the target time, the first satellite receives the first observation data from the target satellite through its onboard GNSS receiver and transmits the first observation data to the ground operation control center through the communication link between the satellite and the ground, so that the ground operation control center can obtain the first observation data.

[0039] Step S106: Determine the second state parameters of the first satellite at the target time based on the first state parameters;

[0040] The aforementioned second state parameter can be the state information of the first satellite at the target time, including position, velocity, acceleration, etc. During the precise orbit determination process, the second state parameter of the first satellite at the target time can be determined by analyzing the first state parameter and using appropriate dynamic models and estimation algorithms (such as Kalman filtering).

[0041] In this embodiment, the ground control center can predict the state parameters of the first satellite at the target time based on the first state parameters of the first satellite at the first moment, and update the predicted state parameters using normal GNSS (i.e., GNSS satellites not subjected to maneuvering) observation data received by the first satellite at the target time, thereby determining the second state parameters of the first satellite at the target time and obtaining the precise orbit information and clock bias data of the first satellite at the target time, thus achieving precise orbit determination of the first satellite. Specifically, the second state parameters can be determined using a Kalman filter model.

[0042] It should be noted that during operation, LEO satellites are generally not subject to maneuvering forces. In this case, when predicting the satellite's state, there is no control input affecting its state; that is, the control input is considered a zero vector or matrix. However, in some cases, LEO satellites may be subject to maneuvering forces for specific purposes. In these cases, the timing, direction, and magnitude of the maneuvering forces acting on the LEO satellite are carefully calculated and can be precisely determined, thus enabling accurate orbit determination of the LEO satellite based on the Kalman filter model.

[0043] Step S108: Determine the target state parameters of the target satellite at the target time based on the second state parameters and the first observation data.

[0044] The aforementioned target state parameters can be the state information of the target satellite at the target time, including position, velocity, acceleration, and other possible parameters such as clock difference and launch angle.

[0045] After determining the second state parameters of the first satellite at the target time and obtaining the first observation data, the ground control center calculates the state parameters of the target satellite at the target time by combining dynamic and observation models. Using the known state of the low Earth orbit satellite and received GNSS observation data, mathematical models and estimation algorithms are employed to determine the state parameters of the high Earth orbit navigation satellite at a specific point in time, thereby achieving high-precision orbit determination and enhanced navigation services. This fully leverages the advantages of the low Earth orbit satellite network, including continuous global coverage, high-precision observation data, and real-time data transmission capabilities, providing strong support for improving the service performance of the GNSS system.

[0046] As an optional implementation, determining the target state parameters of the target satellite at the target time based on the second state parameters and the first observation data includes: determining the third state parameters of the target satellite at the target time based on the second state parameters and the first observation data; and determining the target state parameters based on the third state parameters and the first observation data.

[0047] The aforementioned third state parameter can be the preliminarily determined state information of the target satellite at the target time, including information such as the target satellite's position, velocity, acceleration, and clock deviation. This third state parameter can be the target satellite's state information estimated by the ground control center based on the state parameters of the first satellite and the observation information received by the first satellite.

[0048] The aforementioned target state parameters can be the final determined state information of the target satellite at the target time, that is, the actual state parameters of the target satellite at the target time determined by the ground control center, including information such as the target satellite's position, velocity, acceleration, and clock deviation at the target time. These target state parameters can also be the state parameters of the target satellite at the current time, further refined and determined by the ground control center based on the latest observation data and state estimates.

[0049] The ground control center updates the target state parameters of the maneuvering satellite in real time based on the state information from LEO satellites and GNSS observation data. By using the state information from LEO satellites to predict the state of the maneuvering satellite, it replaces the state estimation in the traditional orbit determination process. This avoids the problem of inaccurate state prediction caused by the inability to obtain precise maneuvering information, thus effectively determining and tracking the state of the target satellite and providing continuous and high-precision orbit determination services. It achieves continuous, high-precision, seamless, and precise orbit determination and clock error prediction throughout the entire GNSS satellite maneuvering process using communication and navigation fusion data from LEO constellations. Furthermore, because LEO satellites can independently monitor orbital changes of GNSS satellites, even when the GNSS system does not disclose maneuvering parameters, changes in observation data can indirectly detect orbital maneuvers, thereby protecting the confidential information of the GNSS system to a certain extent.

[0050] Through the above steps, the first state parameters of the first satellite at the first moment and the first observation data received by the first satellite from the target satellite at the target moment are obtained respectively. Based on the first state parameters, the second state parameters of the first satellite at the target moment are determined. Then, based on the second state parameters and the first observation data, the target state parameters of the target satellite at the target moment are determined. Since the ground control center can accurately determine the state information of the LEO satellite and the GNSS observation data, it can determine the orbit of the maneuvering satellite based on the high-precision orbit and clock error results of the LEO satellite and the real-time observation data of the maneuvering satellite acquired by the LEO satellite. This significantly improves the orbit determination accuracy of maneuvering satellites, avoiding the situation where conventional dynamic models cannot accurately determine the orbit of maneuvering satellites due to the difficulty in accurately modeling the maneuvering thrust and obtaining the specific parameters of the maneuvering force in real time. This ensures the continuity and accuracy of navigation services when high-orbit satellites perform orbital maneuvers or encounter environmental changes, improving the service accuracy, continuity, and availability of GNSS satellites. It solves the problem of inaccurate orbit determination of maneuvering satellites in related technologies, improving the accuracy of satellite orbit determination.

[0051] The execution order of steps S104 and S106 can be interchanged; that is, step S106 can be executed first, and then step S104 can be executed.

[0052] As an optional implementation, determining the target state parameters based on the third state parameters and the first observation data includes: determining the observation model of the target satellite based on the first observation data; and determining the target state parameters based on the observation model, the third state parameters, and the first observation data.

[0053] The aforementioned observation model can be a mathematical model that maps the actual state of the system to the observation space, serving as a bridge between the theoretical state and the observed data. For example, in a GNSS monitoring system based on LEO satellites, the observation model can be a specific model used to convert the satellite's state parameters (such as position, velocity, acceleration, and clock deviation) into observation data (such as pseudorange, carrier phase, and Doppler shift) that can be observed by the LEO satellite. This observation model can be determined based on the partial derivative of the first observation data with respect to the third state parameter, representing the degree to which the observed value is affected by each element of the state parameter.

[0054] The ground control center determines the observation model of the maneuvering satellite based on the GNSS observation data received by the LEO satellite and the state parameters of the maneuvering satellite. Then, based on the observation model, GNSS observation data, and the state parameters of the maneuvering satellite, the state parameters of the target satellite are precisely updated to determine the target state parameters of the target satellite. This fully utilizes the real-time global monitoring capabilities and high-precision data transmission characteristics of the LEO satellite network, overcomes the orbit determination difficulties caused by mechanodynamic effects, effectively compensates for mechanodynamic effects, improves the accuracy of precise orbit determination, and enhances the continuity and stability of the service.

[0055] As an optional implementation, the target state parameters are determined based on the observation model, the third state parameter, and the first observation data, including: determining the Kalman gain matrix of the target satellite based on the observation model; and updating the third state parameter using the Kalman gain matrix and the first observation data to obtain the target state parameters.

[0056] The Kalman gain matrix mentioned above can be a parameter used to update and optimize the system state estimate. This parameter determines the weight of the observations in the state estimate update. During the Kalman filtering process, the gain matrix is ​​dynamically adjusted. By weighting at each time point, the predicted state and the actual observations at the current time are fused to obtain a more accurate state estimate and estimate unknown variables. Specifically, the Kalman gain matrix can be determined using the following formula:

[0057]

[0058] In the formula, It is the Kalman gain matrix. It is the prior error covariance matrix. It is an observation model. It is the observation noise covariance matrix, which is generally determined by the onboard GNSS receiver of the LEO satellite.

[0059] The prior error covariance matrix mentioned above can be determined by the following formula:

[0060]

[0061] In the formula, It is the prior error covariance matrix at time k. It is the state transition matrix. It is the posterior error covariance matrix at time k-1. It is the process noise covariance matrix.

[0062] Optionally, the target state parameters are obtained by updating the third state parameters using the Kalman gain matrix and the first observation data, including updating the third state parameters using the following formula:

[0063]

[0064] In the formula, These are the target state parameters. It is the third state parameter. It is the Kalman gain matrix. This is the first observation data. It is an observation model.

[0065] As an optional implementation, after updating the third state parameter to obtain the target state parameter, the prior error covariance matrix can be updated using the following formula to obtain the posterior error covariance matrix:

[0066]

[0067] In the formula, It is the posterior error covariance matrix at time k. It is the prior error covariance matrix at time k. It is the identity matrix. It is the Kalman gain matrix. It is an observation model.

[0068] As an optional implementation, before determining the target satellite's target state parameters at the target time based on the second state parameters and the first observation data, the method further includes: acquiring the state parameters of N second satellites at the first time to obtain N fourth state parameters, wherein the N second satellites include the target satellite and N is an integer; acquiring the state parameters of N second satellites at the second time to obtain N fifth state parameters, wherein the second time is a time before the target time; and determining the target satellite based on the N fourth state parameters and the N fifth state parameters.

[0069] The aforementioned second satellite may be a GNSS satellite, which includes normal satellites and maneuvering satellites. Normal satellites are GNSS satellites that are not subject to maneuvering, while maneuvering satellites are GNSS satellites that are subject to maneuvering.

[0070] The aforementioned second moment can be a data processing time point, which is located before the target moment and is different from the first moment; the aforementioned fourth state parameter can be the state information of the second satellite at the first moment, which includes position, velocity, acceleration, clock offset, etc.; the aforementioned fifth state parameter can be the state information of the second satellite at the second moment, which includes position, velocity, acceleration, clock offset, etc.

[0071] By processing the state parameters of GNSS satellites at two different times, the state of each GNSS satellite can be obtained, thereby identifying maneuvering satellites from multiple GNSS satellites. This enables precise tracking and analysis of GNSS satellite orbit changes, rapid detection and identification of abnormal satellite maneuvering behavior, and thus effective orbit management and satellite scheduling.

[0072] As an optional implementation, determining the target satellite based on N fourth state parameters and N fifth state parameters includes: acquiring observation data received by the first satellite from each of the second satellites at a first time moment to obtain N second observation data; determining the position of each of the second satellites at the target time based on the N fourth state parameters and N second observation data to obtain N first positions; acquiring observation data received by the first satellite from each of the second satellites at a second time moment to obtain N third observation data; determining the position of each of the second satellites at the target time based on the N fifth state parameters and N third observation data to obtain N second positions; and determining the target satellite based on the first and second positions of each of the second satellites.

[0073] The aforementioned second observation data may be the observation data received and processed by the onboard GNSS receiver of the first satellite from the second satellite at the first moment. This observation data includes pseudorange, carrier phase, Doppler shift, etc. The aforementioned first position may be the predicted position of the second satellite at the target time. This first position can be determined based on the fourth state parameter and the second observation data.

[0074] The aforementioned third observation data may be the observation data received and processed by the onboard GNSS receiver of the first satellite from the second satellite at the second time. This observation data includes pseudorange, carrier phase, Doppler shift, etc. The aforementioned second position may be the predicted position of the second satellite at the target time. This second position can be determined based on the fifth state parameter and the third observation data.

[0075] Optionally, the first and second positions mentioned above can be accurately determined by using an orbit determination model to determine the orbit of the GNSS satellite. The orbit determination model can be a Kalman filter orbit determination model, a Doppler orbit determination model, a carrier phase orbit determination model, etc.

[0076] Because LEO satellite observation data can be transmitted in real time, with a typical delay on the order of 0.1 seconds, ground control centers can quickly acquire information on changes in the GNSS satellite status, promptly identify abnormal satellite maneuvers and adjust orbit determination strategies, flexibly estimate and track the satellite status during maneuvers, thereby avoiding significant deviations in orbit determination results. This ensures that precise orbit determination and clock prediction remain in optimal condition during and after maneuvers, guaranteeing the continuity, stability, and accuracy of precise orbit determination and clock prediction throughout the entire maneuver process. Ultimately, this improves the overall performance of navigation services, enhancing service real-time performance and response speed.

[0077] As an optional implementation, determining the target satellite based on the first and second positions of each second satellite includes: determining the target deviation of each second satellite based on the first and second positions of each second satellite; and determining the second satellite corresponding to the target deviation that is greater than a preset deviation threshold as the target satellite.

[0078] If the target deviation between the first and second positions exceeds a preset deviation threshold, it indicates that the GNSS satellite's orbit has changed. In order to maintain the correct orbital position, the propulsion system is used to correct the orbit. Therefore, if the target deviation of a GNSS satellite significantly exceeds the range of normal orbital perturbation changes, and this change occurs within a short period, the GNSS satellite typically performs an orbital maneuver to identify it as the target satellite, i.e., a maneuvering satellite.

[0079] As an optional implementation, the first satellite, the second satellite, and the target satellite are navigation satellites.

[0080] As an optional implementation, Figure 2 This is a schematic diagram of the composition of a low-Earth orbit communication and navigation fusion system with enhanced orbital maneuvering GNSS satellites, according to an embodiment of this application. Figure 2 As shown, the system mainly includes:

[0081] The low Earth orbit (LEO) communication and navigation integrated satellite constellation (also known as LEO satellites, or simply LEO satellites, i.e., the first satellite) consists of LEO satellites whose onboard GNSS receivers collect GNSS observation data in real time and transmit it back to the LEO system's ground operation control center via inter-satellite links, satellite-to-ground links, and terrestrial networks. The LEO satellites also need to receive and broadcast GNSS navigation information enhancement messages injected from ground injection / gateway stations.

[0082] GNSS satellite constellation: includes normal satellites and mobile satellites. GNSS satellites (i.e., second satellites) normally broadcast navigation signals and navigation messages.

[0083] Ground monitoring station for LEO navigation and communication integration system: The ground navigation monitoring station collects observation data from LEO and GNSS satellites in real time and transmits it to the LEO system ground operation control center in real time via the ground network.

[0084] Ground injection station / gateway station of the low-Earth orbit communication and navigation fusion system: mainly responsible for the acquisition of satellite-to-ground time difference observation data and the two-way data transmission between satellite and ground.

[0085] Ground Operation Control Center of the Communication and Navigation Integration System: This is the ground processing center of the communication and navigation integration system. It completes data collection, mobile detection, precise orbit determination of LEO satellites and normal GNSS satellites, precise orbit determination of mobile satellites (i.e. target satellites), generation and framing of all satellite navigation information messages, and uploading via ground injection stations / gateways.

[0086] Integrated communication and navigation user terminal: The user terminal receives observation data such as pseudorange and carrier phase from GNSS satellites, including normal satellites and maneuvering satellites, and at the same time receives GNSS navigation enhancement message information from LEO satellites to complete PVT (Position, Velocity, and Time) information processing.

[0087] As an optional implementation, Figure 3 This is a schematic diagram of the low-Earth orbit communication and navigation fusion system navigation information enhancement orbital maneuvering GNSS satellite process according to an embodiment of this application, such as... Figure 3 As shown, the specific process is as follows:

[0088] S301, the LEO communication and navigation fusion system operation and control center (i.e., ground control center) receives LEO satellite-borne space-based GNSS observation data and LEO / GNSS monitoring data received by the LEO navigation system ground monitoring station in real time.

[0089] S302: The ground control center performs LEO+GNSS joint precision orbit determination processing based on the data received in real time, and obtains high-precision GNSS+LEO satellite precision orbits and clock errors in real time.

[0090] S303, based on the GNSS+LEO orbit and clock error prediction products (including the fourth and fifth state parameters) acquired in real time in the second step, and real-time observation data from multiple LEO satellites (including the second and third observation data), performs dynamic Kalman filtering calculations to determine the real-time positions of each GNSS satellite (i.e., the second satellite) (i.e., the first and second positions), and combines the two results. When the deviation between the two positions of a certain GNSS satellite (i.e., the target deviation) is greater than 0.1m (i.e., the preset deviation threshold), it is determined that the GNSS satellite has undergone an orbital maneuver (i.e., it has been identified as the target satellite).

[0091] S304 transmits information about the maneuvering GNSS satellite (i.e., the target satellite) to the LEO+normal GNSS joint precise orbit determination module at the ground operations control center, switching the orbit determination and clock bias processing mode for the maneuvering GNSS satellite. At this time, the approximate direction and magnitude of the maneuvering force can also be determined based on the position deviation. The normal LEO+GNSS satellite joint processing continuously outputs the status parameters of both the normal and LEO satellites, processing orbits and clock biases.

[0092] S305 performs maneuver GNSS Kalman filter orbit determination (i.e., target state parameters) based on normal LEO satellite high-precision orbit clock error results data (i.e., second state parameters) and LEO satellite real-time maneuver satellite observation data (i.e., first observation data).

[0093] It should be noted that determining whether a GNSS maneuvering satellite exists is similar in principle to the precise orbit determination technique during maneuvering, the difference being the prior constraint information for the parameters to be estimated during the maneuver. Under normal circumstances, the maneuvering parameters are not estimated, or their initial values ​​are set to 0, and they are given extremely high weights (corresponding to very small covariance matrix values). During maneuvering launch, the covariance matrix corresponding to the maneuvering parameters can be assigned values ​​based on the magnitude of the maneuvering force and the satellite's mass. For example, when using a 10N thruster to maneuver a 1000kg satellite, the estimated parameters can be determined based on the approximate direction and magnitude of the orbital maneuvering force determined by S304, and the corresponding covariance matrix value can be determined based on the prior accuracy.

[0094] S306, repeat steps S301-S305, and after acquiring the orbits and clock bias determination and prediction results of all GNSS satellites (i.e., the second satellite), including maneuvering GNSS satellites, perform navigation message parameter fitting. For normal GNSS satellites, due to the more accurate perturbation model, longer-term predictions can be made; for GNSS satellites in maneuvering phases, to ensure the accuracy of parameters such as ephemeris and clock bias models, the message update frequency can be increased.

[0095] S307, based on parameters such as ephemeris model and clock error model, and in accordance with interface protocol, frames navigation information enhanced messages and uploads them to satellites for broadcast.

[0096] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0097] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory (ROM) / random access memory (RAM), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0098] This embodiment also provides a ground operations control center for implementing the above embodiments and preferred embodiments; details already described will not be repeated. Although the ground operations control center described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0099] Figure 4 This is a structural block diagram of the ground operation control center according to an embodiment of this application, such as... Figure 4 As shown, the ground operation control center 40 includes: a memory 402, a processor 404, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following operations: acquiring first state parameters of the first satellite at a first moment; acquiring observation data received by the first satellite from the target satellite at a target moment to obtain first observation data, wherein the orbit of the target satellite is higher than the orbit of the first satellite, and the first moment is a moment before the target moment; determining second state parameters of the first satellite at the target moment based on the first state parameters; and determining target state parameters of the target satellite at the target moment based on the second state parameters and the first observation data.

[0100] In an exemplary embodiment, when the processor 404 executes the computer program, it is further configured to perform the following operations: determine the third state parameter of the target satellite at the target time based on the second state parameter and the first observation data; and determine the target state parameter based on the third state parameter and the first observation data.

[0101] In an exemplary embodiment, when the processor 404 executes the computer program, it is further configured to perform the following operations: determine the observation model of the target satellite based on the first observation data; and determine the target state parameters according to the observation model, the third state parameters, and the first observation data.

[0102] In an exemplary embodiment, when the processor 404 executes the computer program, it is also configured to perform the following operations: determine the Kalman gain matrix of the target satellite based on the observation model; update the third state parameter using the Kalman gain matrix and the first observation data to obtain the target state parameter.

[0103] In an exemplary embodiment, when the processor 404 executes the computer program, it is further configured to perform the following operations: obtain N state parameters of the second satellites at a first time to obtain N fourth state parameters, wherein the N second satellites include the target satellite and N is an integer; obtain N state parameters of the second satellites at a second time to obtain N fifth state parameters, wherein the second time is a time before the target time; and determine the target satellite based on the N fourth state parameters and the N fifth state parameters.

[0104] In an exemplary embodiment, when the processor 404 executes the computer program, it is further configured to perform the following operations: acquire observation data received by the first satellite from each of the second satellites at a first moment to obtain N second observation data; determine the position of each of the second satellites at a target moment based on N fourth state parameters and N second observation data to obtain N first positions; acquire observation data received by the first satellite from each of the second satellites at a second moment to obtain N third observation data; determine the position of each of the second satellites at the target moment based on N fifth state parameters and N third observation data to obtain N second positions; and determine the target satellite based on the first and second positions of each of the second satellites.

[0105] In an exemplary embodiment, when the processor 404 executes the computer program, it is further configured to perform the following operations: determine the target deviation of each second satellite based on the first position and the second position of each second satellite; and determine the second satellite corresponding to the target deviation that is greater than a preset deviation threshold as the target satellite.

[0106] In one exemplary embodiment, the first satellite, the second satellite, and the target satellite are navigation satellites.

[0107] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0108] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes the steps in any of the above method embodiments when it is run.

[0109] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, ROMs, RAMs, portable hard drives, magnetic disks, or optical disks.

[0110] According to another aspect of the embodiments of this application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor is configured to perform the steps of any of the method embodiments described above via the computer program. In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0111] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0112] According to another aspect of the embodiments of this application, a computer program product is also provided, which includes a computer program / instructions containing program code for performing the methods shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by a central processing unit, it performs various functions provided in the embodiments of this application. The sequence numbers of the embodiments of this application above are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0113] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0114] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A method for determining the orbit of a satellite, characterized in that, Applications in ground operations control centers include: Obtain the first state parameters of the first satellite at the first moment; The observation data received by the first satellite from the target satellite at the target time is obtained to obtain the first observation data, wherein the orbit of the target satellite is higher than the orbit of the first satellite, and the first time is a time before the target time; Determine the second state parameters of the first satellite at the target time based on the first state parameters; The target state parameters of the target satellite at the target time are determined based on the second state parameter and the first observation data.

2. The method according to claim 1, characterized in that, Determining the target satellite's target state parameters at the target time based on the second state parameter and the first observation data includes: The third state parameter of the target satellite at the target time is determined based on the second state parameter and the first observation data; The target state parameters are determined based on the third state parameter and the first observation data.

3. The method according to claim 2, characterized in that, Determining the target state parameters based on the third state parameter and the first observation data includes: The observation model of the target satellite is determined based on the first observation data; The target state parameters are determined based on the observation model, the third state parameter, and the first observation data.

4. The method according to claim 3, characterized in that, Determining the target state parameters based on the observation model, the third state parameter, and the first observation data includes: The Kalman gain matrix of the target satellite is determined based on the observation model. The target state parameters are obtained by updating the third state parameter using the Kalman gain matrix and the first observation data.

5. The method according to claim 1, characterized in that, Before determining the target state parameters of the target satellite at the target time based on the second state parameters and the first observation data, the method further includes: Obtain the state parameters of N second satellites at the first time point to obtain N fourth state parameters, where the N second satellites include the target satellite and N is an integer; Obtain N state parameters of the second satellite at the second time point to obtain N fifth state parameters, wherein the second time point is the time point before the target time point; The target satellite is determined based on N fourth state parameters and N fifth state parameters.

6. The method according to claim 5, characterized in that, Determining the target satellite based on N fourth state parameters and N fifth state parameters includes: Obtain the observation data received by the first satellite from each of the second satellites at the first time point to obtain N second observation data; Based on N fourth state parameters and N second observation data, the position of each second satellite at the target time is determined, resulting in N first positions; Obtain the observation data received by the first satellite from each of the second satellites at the second time point to obtain N third observation data; Based on N fifth state parameters and N third observation data, the position of each second satellite at the target time is determined, resulting in N second positions; The target satellite is determined based on the first and second positions of each of the second satellites.

7. The method according to claim 6, characterized in that, Determining the target satellite based on the first and second positions of each of the second satellites includes: Based on the first position and the second position of each of the second satellites, the target deviation of each of the second satellites is determined; The second satellite corresponding to the target deviation that is greater than the preset deviation threshold is determined as the target satellite.

8. The method according to any one of claims 1 to 7, characterized in that, The first satellite, the second satellite, and the target satellite are navigation satellites.

9. A ground operation control center, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, performs the following operations: Obtain the first state parameters of the first satellite at the first moment; The observation data received by the first satellite from the target satellite at the target time is obtained to obtain the first observation data, wherein the orbit of the target satellite is higher than the orbit of the first satellite, and the first time is a time before the target time; Determine the second state parameters of the first satellite at the target time based on the first state parameters; The target state parameters of the target satellite at the target time are determined based on the second state parameter and the first observation data.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 8.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

12. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 1 to 8.

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