Determination method and device of detector track and electronic equipment

Abstract

The invention discloses a detector orbit determination method and device and electronic equipment, and relates to the technical field of spaceflight measurement and control, and the determination method comprises the steps: obtaining the initial orbit information of a target detector, determining the ephemeris of the target detector through employing a kinetic model based on the initial orbit information, and determining the position of each base station based on the position of each base station and the ephemeris. And determining the distance between the target detector and each base station at each moment by adopting a local correlation observation model, determining an observation partial derivative at each moment based on all the distances, and determining the target detector based on the measurement data at each moment and the observation partial derivative. And determining the speed change quantity and the position change quantity of the target detector at each moment by adopting a least square estimation algorithm, and determining the track of the target detector based on the initial track information and the speed change quantity and the position change quantity at each moment. According to the method and the device, the technical problem of relatively low precision of determining the detector track in the prior art is solved.

Description

Technical Field

[0001] This invention relates to the field of aerospace telemetry and control technology, and more specifically, to a method, apparatus, and electronic equipment for determining the orbit of a probe. Background Technology

[0002] Interplanetary deep space exploration relies on Very Long Baseline Interferometry (VLBI) to accurately determine the angular position of a probe in the sky. Currently, in lunar and deep space exploration missions, Delta Differential One-Way Ranging (Delta-DOR) is generally used for precise time delay measurements.

[0003] Delta-DOR technology improves measurement accuracy by alternately observing the detector and an extragalactic radio source located at a nearby angular position, and using the radio source data to calibrate the common error sources between the detector and the radio source, including common errors caused by the atmosphere, ionosphere, and instrumentation.

[0004] As deep space exploration distances increase and mission complexity grows, there is an urgent need to address the problem of high-precision processing of weak signals. For example, in missions exploring the edge of the solar system, probes need to travel to depths of 10 billion kilometers. This vast distance causes significant free-space loss during signal propagation (over 10 billion kilometers, with an X-band free-space loss of -310.9 dB), drastically weakening the signal strength received by ground stations. Furthermore, as the distance between the probe and Earth continues to increase, the lateral measurement error also increases with the same time delay measurement accuracy. Therefore, achieving high-precision orbit determination of weak signals from probes has become a critical challenge that urgently needs to be solved in deep space exploration.

[0005] There is currently no effective solution to the above problems. Summary of the Invention

[0006] This invention provides a method, apparatus, and electronic device for determining a probe orbit, to at least solve the technical problem of low accuracy in determining probe orbits in related technologies.

[0007] According to one aspect of the present invention, a method for determining the orbit of a detector is provided, comprising: acquiring initial orbit information of a target detector, wherein the initial orbit information includes at least: initial position and initial velocity; determining the ephemeris of the target detector using a dynamic model based on the initial orbit information, wherein the ephemeris includes: the position and velocity of the target detector at each moment; determining the distance between the target detector and each base station at each moment using a local correlation observation model based on the base station position and ephemeris of each base station, and determining the observation partial derivative at each moment based on all distances, wherein the number of base stations is at least two; determining the velocity change and position change of the target detector at each moment using a least squares estimation algorithm based on the measurement data and observation partial derivative at each moment, and determining the orbit of the target detector based on the initial orbit information, the velocity change and position change at each moment.

[0008] Furthermore, the step of determining the ephemeris of the target probe using a dynamic model based on the initial orbit information includes: determining the orbit type of the target probe, wherein the orbit type includes: lunar exploration orbit type and deep space exploration orbit type; if the orbit type is a lunar exploration orbit type, determining the ephemeris of the target probe using a numerical integration algorithm based on the initial orbit information and a preset set of dynamic accelerations, wherein the preset set of dynamic accelerations includes at least one of the following: central mass, non-spherical perturbation, solar radiation pressure perturbation, other planetary perturbation, and post-Newtonian effect perturbation; if the orbit type is a deep space exploration orbit type, integrating the orbit of the target probe by changing the celestial center based on the initial orbit information and the preset set of dynamic accelerations to obtain the ephemeris of the target probe.

[0009] Further, the step of determining the distance between the target detector and each base station at each time moment using a local correlation observation model based on the base station location and ephemeris of each base station includes: when there are two base stations, dividing the base stations into a primary base station and a secondary base station; determining the first and second transmitted signals received by the primary and secondary base stations at the same reception time, and determining the first transmission time of the target detector transmitting the first transmitted signal and the second transmission time of the second transmitted signal; determining the first downlink distance of the primary base station based on the first base station location of the primary base station and the detector location of the target detector at the reception time, wherein the detector location is determined by interpolation of the ephemeris; the first downlink distance refers to the distance between the target detector and the primary base station at the reception time; and determining the second downlink distance of the secondary base station based on the second base station location of the secondary base station and the detector location of the target detector at the reception time, wherein the second downlink distance refers to the distance between the target detector and the secondary base station at the reception time.

[0010] Further, the step of determining the first downlink distance of the main base station based on the first base station location of the main base station and the detector location of the target detector at the receiving time includes: Step 1, determining the initial distance between the target detector and the main base station based on the first base station location and the detector location, wherein the detector location is the location of the target detector at the receiving time; Step 2, determining the relativistic optical travel time based on the distance from the target detector to the center of mass of each celestial body, the distance from the main base station to the center of mass of each celestial body, and the initial distance; Step 3, correcting the initial distance based on the relativistic optical travel time and the speed of light to obtain the corrected distance; Step 4, determining the total optical travel time based on the corrected distance and the speed of light; Step 5, determining the initial transmission time of the target detector based on the receiving time and the total optical travel time; using the initial transmission time as the new receiving time, repeating the above steps 1 to 5 until the absolute difference between the corrected distance determined in the current iteration and the corrected distance determined in the previous iteration is less than a preset distance threshold, and determining the corrected distance determined in the last iteration as the first downlink distance.

[0011] Further, the step of determining the distance between the target detector and each base station at each time moment using a local correlation observation model based on the base station location and ephemeris of each base station includes: when there are three base stations, classifying the base stations into a main base station, a secondary base station, and an uplink base station; determining the third and fourth transmitted signals received by the main base station and the secondary base station at the same reception time; determining the third transmission time of the third transmitted signal transmitted by the uplink base station and the first arrival time of the third transmitted signal to the target detector, and determining the fourth transmission time of the fourth transmitted signal transmitted by the uplink base station and the second arrival time of the fourth transmitted signal to the target detector; determining the first distance sum of the main base station based on the first base station location of the main base station, the third base station location of the uplink base station, and the detector location of the target detector at the reception time, wherein the first distance sum is obtained by adding the first distance between the target detector and the main base station at the reception time to the second distance between the target detector and the uplink base station at the reception time; determining the second distance sum of the secondary base station based on the second base station location of the secondary base station, the third base station location of the uplink base station, and the detector location of the target detector at the reception time, wherein the second distance sum is obtained by adding the third distance between the target detector and the secondary base station at the reception time to the fourth distance between the target detector and the uplink base station at the reception time.

[0012] Further, the steps for determining the second or fourth distance are as follows: Step 1, based on the arrival time and ephemeris, determine the detector position of the target detector at the arrival time, where the arrival time is either the first arrival time or the second arrival time; Step 2, based on the position of the third base station and the detector position, determine the initial distance between the target detector and the uplink base station; Step 3, based on the distance from the target detector to the center of mass of each celestial body, the distance from the uplink base station to the center of mass of each celestial body, and the initial distance, determine the relativistic light travel time; Step 4, based on the relativistic light travel time and the speed of light, correct the initial distance to obtain the corrected distance; Step 5, based on the corrected distance and the speed of light, determine the total light travel time; Step 6, based on the arrival time and the total light travel time, determine the initial transmission time of the uplink base station; using the initial transmission time as the new arrival time, repeat steps 1 to 6 above until the absolute difference between the corrected distance determined in the current iteration and the corrected distance determined in the previous iteration is less than a preset distance threshold, and the corrected distance determined in the last iteration is determined as the second or fourth distance.

[0013] Furthermore, the step of determining the observation partial derivative at each time step based on all distances includes: determining the local correlation delay of the target detector at each time step based on all distances; determining the delay rate based on the adjacent local correlation delays with a preset integration time interval; determining the first partial derivative of the local correlation delay with respect to the orbital information of the target detector, and determining the second partial derivative of the delay rate with respect to the orbital information of the target detector; and determining the observation partial derivative based on the first and second partial derivatives.

[0014] Furthermore, based on the measurement data and observation partial derivatives at each moment, the step of determining the velocity and position changes of the target detector at each moment using the least squares estimation algorithm includes: constructing an observation equation based on the measurement data and observation data at each moment, wherein the measurement data includes at least the measured position and measured velocity of the target detector; the observation data includes the observation values ​​determined by the local correlation observation model, and the observation values ​​include at least the local correlation time delay, the observed position and observed velocity of the target detector; and solving the observation equation using the least squares estimation algorithm based on the observation partial derivatives to obtain the velocity and position changes of the target detector at each moment.

[0015] According to another aspect of the present invention, a device for determining the orbit of a detector is also provided, comprising: an acquisition unit for acquiring initial orbit information of a target detector, wherein the initial orbit information includes at least: an initial position and an initial velocity; a first determination unit for determining the ephemeris of the target detector based on the initial orbit information using a dynamic model, wherein the ephemeris includes: the position and velocity of the target detector at each moment; a second determination unit for determining the distance between the target detector and each base station at each moment using a local correlation observation model based on the base station position and ephemeris of each base station, and determining the observation partial derivative at each moment based on all distances, wherein the number of base stations is at least two; and a third determination unit for determining the velocity change and position change of the target detector at each moment using a least squares estimation algorithm based on the measurement data and observation partial derivative at each moment, and determining the orbit of the target detector based on the initial orbit information, the velocity change and position change at each moment.

[0016] Further, the first determining unit includes: a first determining module, used to determine the orbit type of the target probe, wherein the orbit type includes: lunar exploration orbit type and deep space exploration orbit type; a second determining module, used to determine the ephemeris of the target probe based on initial orbit information and a preset dynamic acceleration set when the orbit type is a lunar exploration orbit type, using a numerical integration algorithm, wherein the preset dynamic acceleration set includes at least one of the following: central mass, non-spherical perturbation, solar radiation pressure perturbation, other planetary perturbation, and post-Newtonian effect perturbation; and a first integration module, used to integrate the orbit of the target probe by changing the celestial center when the orbit type is a deep space exploration orbit type, based on initial orbit information and the preset dynamic acceleration set, to obtain the ephemeris of the target probe.

[0017] Further, the second determining unit includes: a first dividing module, used to divide the base stations into a primary base station and a secondary base station when there are two base stations; a third determining module, used to determine the first and second transmitted signals received by the primary base station and the secondary base station at the same receiving time, and to determine the first transmission time of the target detector transmitting the first transmitted signal and the second transmission time of the second transmitted signal; a fourth determining module, used to determine the first downlink distance of the primary base station based on the first base station location of the primary base station and the detector location of the target detector at the receiving time, wherein the detector location is determined by interpolating the ephemeris; the first downlink distance refers to the distance between the target detector and the primary base station at the receiving time; and a fifth determining module, used to determine the second downlink distance of the secondary base station based on the second base station location of the secondary base station and the detector location of the target detector at the receiving time, wherein the second downlink distance refers to the distance between the target detector and the secondary base station at the receiving time.

[0018] Further, the fourth determining module includes: a first determining submodule, used to execute step one, determining the initial distance between the target detector and the main base station based on the location of the first base station and the detector location, wherein the detector location is the location of the target detector at the receiving time; a second determining submodule, used to execute step two, determining the relativistic light travel time based on the distance from the target detector to the center of mass of each celestial body, the distance from the main base station to the center of mass of each celestial body, and the initial distance; a first correcting submodule, used to execute step three, correcting the initial distance based on the relativistic light travel time and the speed of light to obtain the corrected distance; a third determining submodule, used to execute step four, determining the total light travel time based on the corrected distance and the speed of light; a fourth determining submodule, used to execute step five, determining the initial transmission time of the target detector based on the receiving time and the total light travel time; and a first using submodule, used to take the initial transmission time as the new receiving time, repeating steps one to five above until the absolute difference between the corrected distance determined in the current iteration and the corrected distance determined in the previous iteration is less than a preset distance threshold, and determining the corrected distance determined in the last iteration as the first downlink distance.

[0019] Furthermore, the second determining unit also includes: a second dividing module, used to divide the base stations into a main base station, a secondary base station, and an uplink base station when there are three base stations; a sixth determining module, used to determine the third and fourth transmitted signals received by the main base station and the secondary base station at the same receiving time; a seventh determining module, used to determine the third transmission time of the third transmitted signal transmitted by the uplink base station and the first arrival time of the third transmitted signal to the target detector, and to determine the fourth transmission time of the fourth transmitted signal transmitted by the uplink base station and the second arrival time of the fourth transmitted signal to the target detector; an eighth determining module, used to determine the first distance sum of the main base station based on the first base station position of the main base station, the third base station position of the uplink base station, and the detector position of the target detector at the receiving time, wherein the first distance sum is obtained by adding the first distance between the target detector and the main base station at the receiving time to the second distance between the target detector and the uplink base station at the receiving time; and a ninth determining module, used to determine the second distance sum of the secondary base station based on the second base station position of the secondary base station, the third base station position of the uplink base station, and the detector position of the target detector at the receiving time, wherein the second distance sum is obtained by adding the third distance between the target detector and the secondary base station at the receiving time to the fourth distance between the target detector and the uplink base station at the receiving time.

[0020] Furthermore, the determining device also includes: a fourth determining unit, used to determine a second distance or a fourth distance, the determining steps being as follows: Step 1, based on the arrival time and ephemeris, determining the detector position of the target detector at the arrival time, wherein the arrival time is a first arrival time or a second arrival time; Step 2, based on the position of the third base station and the detector position, determining the initial distance between the target detector and the uplink base station; Step 3, based on the distance from the target detector to the center of mass of each celestial body, the distance from the uplink base station to the center of mass of each celestial body, and the initial distance, determining the relativistic light travel time; Step 4, based on the relativistic light travel time and the speed of light, correcting the initial distance to obtain a corrected distance; Step 5, based on the corrected distance and the speed of light, determining the total light travel time; Step 6, based on the arrival time and the total light travel time, determining the initial transmission time of the uplink base station; using the initial transmission time as the new arrival time, repeating steps 1 to 6 above until the absolute difference between the corrected distance determined in the current iteration and the corrected distance determined in the previous iteration is less than a preset distance threshold, and determining the corrected distance determined in the last iteration as the second distance or the fourth distance.

[0021] Furthermore, the second determining unit also includes: a tenth determining module, used to determine the local correlation delay of the target detector at each moment based on all distances; an eleventh determining module, used to determine the delay rate based on the adjacent local correlation delays with a preset integration time interval; a twelfth determining module, used to determine the first partial derivative of the local correlation delay with respect to the orbital information of the target detector, and to determine the second partial derivative of the delay rate with respect to the orbital information of the target detector; and a thirteenth determining module, used to determine the observation partial derivative based on the first and second partial derivatives.

[0022] Furthermore, the third determining unit includes: a first construction module, used to construct an observation equation based on the measurement data and observation data at each moment, wherein the measurement data includes at least: the measurement position and measurement velocity of the target detector; the observation data includes: the observation values ​​determined by the local correlation observation model, and the observation values ​​include at least: the local correlation time delay, the observation position and observation velocity of the target detector; and a first solution module, used to solve the observation equation based on the observation partial derivatives using a least squares estimation algorithm to obtain the velocity change and position change of the target detector at each moment.

[0023] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the method for determining the probe orbit of any of the above-mentioned methods.

[0024] According to another aspect of the present invention, an electronic device is also provided, including one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement any of the above-described methods for determining the probe orbit.

[0025] In this invention, the initial orbit information of the target detector is obtained. Based on the initial orbit information, a dynamic model is used to determine the ephemeris of the target detector. Based on the base station location and ephemeris of each base station, a local correlation observation model is used to determine the distance between the target detector and each base station at each time step. Based on all distances, the observation partial derivative at each time step is determined. Based on the measurement data and observation partial derivative at each time step, a least squares estimation algorithm is used to determine the velocity change and position change of the target detector at each time step. Based on the initial orbit information, the velocity change and position change at each time step, the orbit of the target detector is determined, thereby solving the technical problem of low accuracy in determining the detector orbit in related technologies.

[0026] In this invention, the initial orbital information of the target probe, including its initial position and velocity, can be obtained first. Then, based on this orbital information, the future ephemeris of the target probe, i.e., its expected position and velocity at each moment, is predicted using a dynamic model. Subsequently, based on the base station position of each base station and the predicted ephemeris, the theoretical distance between the target probe and each base station is calculated using a local correlation observation model, and the observation partial derivative at each moment is further determined. Finally, combining the actual measurement data and the calculated observation partial derivative, the least squares estimation algorithm is used to solve for the small changes in the velocity and position of the target probe at each moment. This iteratively optimizes the probe's orbital information, ensuring that the probe's orbit can be precisely determined even under extremely weak signal conditions. This achieves the goal of high-precision orbit determination even in the weak signal environment of deep space exploration, thus realizing the technical effect of precise measurement and real-time updating of the probe's orbital state. This solves the technical problem that traditional orbit determination methods cannot meet the accuracy requirements of deep space exploration missions due to signal attenuation. Attached Figure Description

[0027] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0028] Figure 1 This is a flowchart of an optional method for determining a detector orbit according to an embodiment of the present invention;

[0029] Figure 2This is a schematic diagram of an optional conventional correlation interferometry according to an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of an optional local correlated incoherent one-way measurement according to an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of an optional local correlation coherence three-way measurement according to an embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of an optional incoherent mode time delay orbit determination residual map according to an embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of an optional noncoherent mode time delay rate orbit determination residual map according to an embodiment of the present invention;

[0034] Figure 7 This is a schematic diagram of the ephemeris deviation between an optional incoherent mode orbit determination and an orbit determination without VLBI, according to an embodiment of the present invention.

[0035] Figure 8 This is a schematic diagram of an optional coherent mode time delay orbit determination residual diagram according to an embodiment of the present invention;

[0036] Figure 9 This is a schematic diagram of an optional coherent mode delay rate orbit determination residual diagram according to an embodiment of the present invention;

[0037] Figure 10 This is a schematic diagram of an optional local correlation and conventional correlation interferometric orbit determination ephemeris deviation diagram according to an embodiment of the present invention;

[0038] Figure 11 This is a schematic diagram of an optional detector orbit determination device according to an embodiment of the present invention;

[0039] Figure 12 This is a hardware structure block diagram of an electronic device (or mobile device) for a method of determining a probe orbit according to an embodiment of the present invention. Detailed Implementation

[0040] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0041] It should be noted that the terms "first," "second," etc., used in this invention 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 the invention 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.

[0042] It should be noted that all related information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, and displayed data) collected and involved in this invention are information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, storage, use, processing, transmission, provision, disclosure, and application of this data comply with the relevant laws, regulations, and standards of the relevant regions, necessary confidentiality measures have been taken, and it does not violate public order and good morals. Corresponding operation entry points are provided for users to choose to authorize or refuse. For example, this system has an interface with relevant users or organizations. Before obtaining relevant information, a request to obtain the information needs to be sent to the aforementioned user or organization through the interface, and the relevant information is obtained only after receiving consent from the aforementioned user or organization.

[0043] This invention proposes a method for calculating the orbit of a probe using local correlation interferometry. Considering the characteristics of local correlation interferometry, observation models for time delay and delay rate under coherent and incoherent modes are established. To facilitate orbit determination in lunar and deep space exploration, a probe orbit dynamics model is established. Furthermore, a statistical orbit determination method based on a unified telemetry and control system and local correlation interferometry is designed using the least squares principle, thereby achieving precise orbit determination under weak signal conditions in deep space exploration. This method is applicable to precise orbit determination of probes under weak signal tracking conditions in subsequent deep space exploration.

[0044] In this invention, local correlation interferometry is a novel measurement system with high sensitivity and high processing accuracy. It includes both coherent and incoherent modes and can be applied to orbit determination technology for lunar and deep space exploration. Based on these two measurement modes, an observation model is established, and combined with the orbital dynamics model, a method for determining the orbit of a probe based on the local correlation interferometry system and the unified telemetry and control system is designed to achieve precise orbit determination under weak signal conditions in deep space exploration. Specifically, it includes: (1) local correlation interferometry observation modeling; (2) probe orbital dynamics model; (3) statistical orbit determination method based on the unified telemetry and control system and local correlation interferometry; and (4) orbit determination method verification.

[0045] The present invention will now be described in detail with reference to various embodiments.

[0046] Example 1

[0047] According to an embodiment of the present invention, an embodiment of a method for determining a probe orbit is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0048] Figure 1 This is a flowchart of an optional method for determining a detector orbit according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0049] Step S101: Obtain the initial orbit information of the target detector, wherein the initial orbit information includes at least: initial position and initial velocity.

[0050] In this embodiment of the invention, the initial orbit information of the target detector can be obtained first. Here, "initial orbit information" refers to the position and velocity of the detector at a certain point in time. This information can be obtained through launch planning, preliminary orbit calculation or other measurement methods (such as optical observation).

[0051] Step S102: Based on the initial orbital information, the ephemeris of the target probe is determined using a dynamic model, wherein the ephemeris includes the position and velocity of the target probe at each moment.

[0052] In this embodiment of the invention, after obtaining the initial orbital information of the target probe, a dynamic model can be used to predict the probe's future orbit. The dynamic model is a mathematical description of the probe's motion state under the influence of various forces (such as gravity, solar wind, and radiation pressure). Based on the initial orbital information, this model can be used to calculate the predicted position and velocity of the target probe at each moment, forming an "ephemeris." Here, the ephemeris is a continuous time series that precisely records the spatial state of the probe at different points in time.

[0053] Step S103: Based on the base station location and ephemeris of each base station, the distance between the target detector and each base station at each time step is determined using a local correlation observation model, and the observation partial derivative at each time step is determined based on all distances, wherein the number of base stations is at least two.

[0054] In this embodiment of the invention, after determining the predicted orbit of the detector, the actual distance changes between the detector and each base station can be determined using the position information and ephemeris of at least two base stations via local correlation interferometry. Here, the local correlation observation model is an optimized data processing framework that allows preliminary data processing to be performed locally at each base station, reducing the burden of data transmission. Then, based on the calculated distance changes between the target detector and the base stations, the "observation partial derivatives," i.e., the rate of change of the detector's position and velocity relative to the time-delayed observations, are further determined to quantify the degree of influence of measurement errors on orbital parameters.

[0055] Step S104: Based on the measurement data and observation partial derivatives at each moment, the least squares estimation algorithm is used to determine the velocity change and position change of the target detector at each moment, and the orbit of the target detector is determined based on the initial orbit information, the velocity change and position change at each moment.

[0056] In this embodiment of the invention, by combining actual measurement data and theoretically predicted observation partial derivatives, a least squares estimation algorithm is used to determine the fine-tuning of the target detector's actual position and velocity at each moment. Here, least squares estimation is an optimization method based on probabilistic statistics principles, used to find a set of parameters that minimizes the sum of squared deviations between the observed values ​​and the model's predicted values. In this embodiment, the detector's orbital parameters, namely velocity and position, can be adjusted based on the residuals of the measurement data and their degree of matching with the theoretical predictions, thereby making the predicted orbit closer to the actual orbit. Then, these adjusted parameters are superimposed on the initial orbital information to complete the accurate determination of the target detector's orbit.

[0057] In summary, the initial orbital information of the target probe, including its initial position and velocity, can be obtained first. Then, based on this orbital information, a dynamic model is used to predict the future ephemeris of the target probe, i.e., its expected position and velocity at each moment. Next, based on the base station position and the predicted ephemeris of each base station, a local correlation observation model is used to calculate the theoretical distance between the target probe and each base station, and further determine the observation partial derivative at each moment. Finally, combining the actual measurement data and the calculated observation partial derivative, the least squares estimation algorithm is used to solve for the small changes in the velocity and position of the target probe at each moment. This iterative optimization of the probe's orbital information ensures that even under extremely weak signal conditions, precise orbit determination of the probe can be achieved. This achieves the goal of high-precision orbit determination in the weak signal environment of deep space exploration, thus realizing the technical effect of precise measurement and real-time updating of the probe's orbital state. This solves the technical problem that traditional orbit determination methods cannot meet the accuracy requirements of deep space exploration missions due to signal attenuation.

[0058] To improve the accuracy of determining the ephemeris of the target probe, the method for determining the probe's orbit provided in Embodiment 1 of this application determines the orbit type of the target probe, which includes: lunar exploration orbit type and deep space exploration orbit type. When the orbit type is a lunar exploration orbit type, the ephemeris of the target probe is determined using a numerical integration algorithm based on initial orbit information and a preset set of dynamic accelerations. The preset set of dynamic accelerations includes at least one of the following: central mass, non-spherical perturbation, solar radiation pressure perturbation, other planetary perturbation, and post-Newtonian effect perturbation. When the orbit type is a deep space exploration orbit type, the orbit of the target probe is integrated by changing the celestial center based on the initial orbit information and the preset set of dynamic accelerations to obtain the ephemeris of the target probe.

[0059] In this embodiment of the invention, the orbit type of the target probe can be determined first. The orbit type can be determined based on the mission nature and operating environment of the probe. There are two main types of orbits: lunar exploration orbits and deep space exploration orbits. The orbit determination methods and dynamic models for each type are different to adapt to their unique needs and challenges.

[0060] In this embodiment of the invention, local correlation interferometry can be applied to orbit determination for lunar exploration and deep space exploration. Therefore, the dynamic model of the lunar orbit is shown in Table 1.

[0061] Table 1

[0062]

[0063] The lunar orbit time system uses Earth time. With the initial orbital values ​​and the dynamic accelerations in Table 1, the probe's position and velocity at similar times can be obtained using numerical integration.

[0064] The dynamic model of deep space exploration is shown in Table 2.

[0065] Table 2

[0066]

[0067] Deep space exploration orbital time systems all employ center-of-mass dynamic time. When a probe's orbit crosses the boundary of an influence sphere, the orbital integration can be performed by changing the center of the celestial body, or a larger celestial body can be used uniformly for orbital integration; the differences are negligible over short periods.

[0068] Specifically, when the target probe is in a lunar exploration mission, i.e., its orbit type is a lunar exploration orbit, a preset set of dynamic accelerations is introduced to predict the orbit based on the initial orbit information (including initial position and velocity). The preset set of dynamic accelerations includes a variety of factors that significantly affect the probe's motion state, including but not limited to: central mass: considering Earth as the main gravitational source, the main dynamic characteristics of the probe when moving away from the Moon are determined by the gravity of Earth's central mass; non-spherical perturbation: Earth is not a perfect sphere, and the changes in the gravitational field caused by its uneven mass distribution are described and simulated using a high-order Earth gravity model (such as the JGM3 model); solar radiation pressure perturbation: the pressure generated by solar radiation on the probe's surface affects its trajectory, especially in the space environment where there is no atmospheric drag; perturbation by other planets: in addition to Earth and the Moon, other large planets in the solar system also interfere with the probe's orbit, calculated using the relative positions of the Sun and other planets and their gravitational effects; post-Newtonian effect perturbation: considering relativistic effects, especially the additional gravitational effects that occur when the probe approaches a gravitationally powerful celestial body (such as the Sun).

[0069] To integrate these complex dynamic factors, numerical integration algorithms, such as the KSG (Kanevsky, Sagiv, and Goshen) integration method, can be used to process the dynamic model, thereby obtaining the precise position and velocity of the target detector at each moment, i.e., forming a detailed "ephemeris", which provides a theoretical basis for subsequent measurement data processing and comparison.

[0070] For deep space exploration orbits, more flexible and refined orbit integration strategies are needed because the probe may traverse different celestial bodies' influence regions. Based on initial orbital information, a dynamic acceleration set is applied. However, considering that the gravitational effects of celestial bodies (such as the Sun and major planets) change with the probe's position during deep space exploration, a method of changing the celestial body's center can be used for integration. This means that when the probe moves away from Earth or crosses the boundary of Earth's influence sphere, its integration center can be switched from the Earth's center to the heliocentric or other celestial body's center to more accurately reflect the gravitational environment experienced by the probe, thus obtaining a more precise ephemeris. This approach is suitable for missions that are very far from Earth, or even may approach other major planets, such as Jupiter, Pluto, or exploration of the solar system's edge.

[0071] In this embodiment, regardless of whether the probe is in a lunar or deep space orbit, a dynamic model and appropriate integration algorithm can effectively overcome interference from signal attenuation, atmospheric and ionospheric delays, and achieve high-precision orbit determination. Particularly in deep space exploration missions, due to the extreme distance from Earth and the extremely weak signal strength, the advantages of local correlation interferometry are fully utilized. Combined with an integration strategy that changes the celestial center, precise orbit determination can be achieved even under weak signal conditions. This is crucial for ensuring subsequent communication connections, orbit adjustments, and even the smooth conduct of scientific experiments. Thus, not only is orbit determination accuracy improved, but the complexity of data processing and the demand for communication bandwidth are reduced, enhancing the overall efficiency and reliability of deep space exploration missions.

[0072] To improve the accuracy of determining the distance between the target detector and each base station at each moment, in the detector orbit determination method provided in Embodiment 1 of this application, when there are two base stations, the base stations are divided into a primary base station and a secondary base station; the first and second transmitted signals received by the primary and secondary base stations at the same receiving moment are determined, and the first transmission moment of the target detector transmitting the first transmitted signal and the second transmission moment of the second transmitted signal are determined; based on the primary base station's first base station position and the target detector's position at the receiving moment, the first downlink distance of the primary base station is determined, wherein the detector position is determined by interpolating the ephemeris; the first downlink distance refers to the distance between the target detector and the primary base station at the receiving moment; based on the secondary base station's second base station position and the target detector's position at the receiving moment, the second downlink distance of the secondary base station is determined, wherein the second downlink distance refers to the distance between the target detector and the secondary base station at the receiving moment.

[0073] In this embodiment of the invention, the time delay of conventional correlation interferometry is defined as: assuming the detector's launch time... The same transmitted signal received at the main station Sta1 The distance between the detector and the main station The same transmitted signal received at the secondary station Sta2 The distance between the detector and the secondary station The time difference between the main station and the secondary station receiving the same transmitted signal is used as the time delay. Specifically, it is expressed as:

[0074] (1);

[0075] Where c represents the speed of light.

[0076] Figure 2 This is a schematic diagram of an optional conventional correlation interferometry according to an embodiment of the present invention, such as... Figure 2As shown, two base stations are established on Earth: the main station Sta1 and the secondary station Sta2. The probe... (Velocity vector, representing the velocity and direction of the detector's motion) Motion at launch time The transmitted signal, and the time at which the signal is received at the master station Sta1. At this time, the distance between the detector and the main station Sta1 The time when the signal is received at the secondary station Sta2 At this time, the distance between the detector and the secondary station Sta2 .

[0077] In this embodiment of the invention, local correlation interferometry is used for observation modeling. Local correlation includes two modes. The first mode is an incoherent one-way measurement mode similar to traditional correlation, defined as: detector launch time... From the second launch time to the receiving time at the secondary station Sta2 distance (Second downlink distance), relative to the probe launch time From the first launch time to the main station Sta1 receiving time distance The time difference corresponding to the first downlink distance. The difference from traditional methods is that the primary and secondary stations receive signals at the same time, but the detectors transmit signals at different times. Therefore, when calculating the downlink distance... and The algorithm also differs from traditional related algorithms, specifically:

[0078] Calculate the downlink distance of the main station The timescale of the measurement data is :

[0079] (1) Calculate the location of the main station (Right now (Current location of the main station).

[0080] (2) Interpolation detector ephemeris (Right now (Detector position at the current moment).

[0081] (3) Calculate the downlink distance of the main station .

[0082] Calculate the downlink distance of the secondary station The timescale of the measurement data is :

[0083] (4) Calculate the location of the secondary station (Right now (Location of the secondary station at the current time).

[0084] (5) Interpolation detector ephemeris (Right now (Detector position at the current moment).

[0085] (6) Calculate the downlink distance of the secondary station The specific calculation steps are the same as those for calculating the downlink distance of the main station. The steps are the same.

[0086] Specifically, when two base stations are configured—one primary base station and one secondary base station—local correlation incoherent one-way measurement technology can be used to accurately calculate the target detector's orbit. A precise timing system, such as GPS (Global Positioning System) or Galileo, can be used to ensure clock synchronization between the two base stations. In practice, the primary and secondary base stations each receive two sets of signals emitted by the target detector: a first transmission signal and a second transmission signal, and the reception times of these two sets of signals are precisely recorded. Here, "first" and "second" transmission signals refer to two sets of signals emitted at different times, not their sequential order. Using high-precision timing equipment at the stations, the reception time of each set of signals is recorded, and combined with relativistic optical time corrections, the actual transmission time of the target detector is calculated in reverse. This process considers the signal propagation time in space and potential atmospheric and ionospheric delays, ensuring that the obtained transmission time is accurate and reliable. Then, using the known location of the primary base station (i.e., the "first base station location") and the "detector location" determined by interpolation of the target detector's ephemeris, the first downlink distance between the primary base station and the target detector is precisely calculated based on geometric relationships and relativistic correction theory. Here, the first downlink distance refers to the straight-line distance between the target detector and the primary base station at the receiving time; this distance is the basis for calculating the time delay. Simultaneously, using the location information of the secondary base station and the target detector's location at the same receiving time, the second downlink distance between the secondary base station and the target detector is calculated.

[0087] Figure 3 This is a schematic diagram of an optional locally correlated incoherent one-way measurement according to an embodiment of the present invention, such as... Figure 3 As shown, two base stations are established on Earth: the main station Sta1 and the secondary station Sta2. The probe... (Velocity vector, representing the velocity and direction of the probe's motion) Motion, the probe at the moment of launch The first signal is transmitted, and the time when this first signal is received by the main station Sta1 is... At this time, the distance between the detector and the main station Sta1 The probe at launch time The second signal is transmitted, and the receiving time of this second signal at the secondary station Sta2 is... At this time, the distance between the detector and the secondary station Sta2 .

[0088] In this embodiment, not only can precise time delay data between the target probe and the primary and secondary base stations be obtained under weak signal conditions, but the time delay rate can also be further calculated, thereby achieving high-precision probe orbit determination in deep space environments. This effectively compensates for the shortcomings of traditional interferometry techniques under conditions of significant signal attenuation, demonstrating its unique value and advantages, particularly in missions exploring Jupiter, Pluto, and even the edge of the solar system. Through joint analysis of time delay and time delay rate between base stations, coupled with collaborative work with a unified telemetry and control system, orbit determination accuracy is significantly improved, providing a solid technical guarantee for the successful implementation of subsequent deep space exploration missions.

[0089] To improve the accuracy of determining the first downlink distance of the main base station, in the detector orbit determination method provided in Embodiment 1 of this application, the steps are as follows: Step 1, based on the location of the first base station and the detector location, determine the initial distance between the target detector and the main base station, wherein the detector location is the location of the target detector at the receiving time; Step 2, based on the distance from the target detector to the center of mass of each celestial body, the distance from the main base station to the center of mass of each celestial body, and the initial distance, determine the relativistic light travel time; Step 3, based on the relativistic light travel time and the speed of light, correct the initial distance to obtain the corrected distance; Step 4, based on the corrected distance and the speed of light, determine the total light travel; Step 5, based on the receiving time and the total light travel, determine the initial transmission time of the target detector; using the initial transmission time as the new receiving time, repeat steps 1 to 5 above until the absolute difference between the corrected distance determined in the current iteration and the corrected distance determined in the previous iteration is less than a preset distance threshold, and the corrected distance determined in the last iteration is determined as the first downlink distance.

[0090] In this embodiment of the invention, the downlink distance of the master station is calculated. The steps are as follows:

[0091] 1) Calculate the initial value of the downlink distance:

[0092] (2);

[0093] 2) Calculate the relativistic light travel time (RLT) based on the position vectors of the detector and the ground station:

[0094] (3);

[0095] in, Indicates the initial distance between the detector and the main base station, subscript. i It refers to a celestial body in the solar system. Indicates the probe's arrival at the celestial bodyi Distance between the centers of mass Indicates the distance from the station to the celestial body i Distance between the centers of mass u i celestial bodies i The gravitational constant, where c represents the speed of light. This represents the scale factor, which can be set to 1. In a Mars mission, it is actually sufficient to consider only the influence of the Sun.

[0096] 3) Calculate the distance correction:

[0097] (4);

[0098] 4) Calculate the total optical travel time :

[0099] (5);

[0100] 5) Calculate the detector launch time:

[0101] (6);

[0102] 6) By replace Repeat steps 1) through 5) until the current value is reached. Compared with the previous calculation value (The difference between the corrected distance determined in the previous iteration) The process ends at time m.

[0103] Specifically, based on the known location of the main base station and the instantaneous location of the target detector at the moment of reception (obtained through interpolated ephemeris data), geometric calculation methods (such as the Euclidean distance formula) are applied to estimate the initial distance between them. Then, using formulas of general relativity, combined with the distances from the target detector to the center of mass of each celestial body, the distance from the main base station to the center of mass of each celestial body, and the obtained initial distance, the relativistic light travel time of the signal propagating in space is calculated. Here, each center of mass includes, but is not limited to, the Sun, major planets, and the Moon, and the positions of the celestial bodies are provided by the DE436 ephemeris. Based on the relativistic light travel time, and combined with the speed of light (usually approximated as 299,792,458 m / s), the propagation distance of the signal is recalculated to obtain the corrected distance. The corrected distance is an improvement on the initial distance, more closely approximating the actual physical distance of signal propagation. Based on the corrected distance, the total light travel time of the signal is calculated again using the speed of light; this time is the total time from the signal being emitted by the target detector to being received by the main base station. Subtracting the calculated total light travel time from the reception time yields the initial transmission time of the signal emitted by the target detector. This point in time marks the starting point of the iterative correction process. This time will then be used as the new receiving time, and all the aforementioned steps will be recalculated. The transmitting time obtained in the previous step will be used as the new receiving time, and steps one through five will be repeated until the absolute difference between the corrected distances obtained from two adjacent iterations is less than a preset distance threshold (e.g., on the order of meters or smaller). Through this iterative correction process, the final determined first downlink distance is a high-precision result obtained after multiple corrections.

[0104] In this embodiment, by introducing relativistic optical time-of-travel correction and iterative distance calculation, the accuracy of the target probe's orbit calculation is significantly improved. In deep space exploration, especially for missions to Jupiter, Pluto, and the edge of the solar system, this effectively overcomes the challenges of signal strength attenuation and increased lateral measurement errors, enabling precise orbit determination of the probe at vast distances. By combining traditional interferometry techniques with local correlation techniques, the bandwidth requirements for data transmission can be significantly reduced while maintaining or even improving the accuracy of orbit determination, providing strong technical support for lunar and deep space exploration missions.

[0105] To further accurately determine the distance between the target detector and each base station at each moment, in the detector orbit determination method provided in Embodiment 1 of this application, when there are three base stations, the base stations are divided into a main base station, a secondary base station, and an uplink base station; the third and fourth transmission signals received by the main base station and the secondary base station at the same receiving moment are determined; the third transmission moment of the uplink base station transmitting the third transmission signal and the first arrival moment of the third transmission signal reaching the target detector are determined, and the fourth transmission moment of the uplink base station transmitting the fourth transmission signal and the second arrival moment of the fourth transmission signal reaching the target detector are determined; based on the first base station position of the main base station, the third base station position of the uplink base station, and the detector position of the target detector at the receiving moment, the first distance sum of the main base station is determined, wherein the first distance sum is obtained by adding the first distance between the target detector and the main base station at the receiving moment to the second distance between the target detector and the uplink base station at the receiving moment; based on the second base station position of the secondary base station, the third base station position of the uplink base station, and the detector position of the target detector at the receiving moment, the second distance sum of the secondary base station is determined, wherein the second distance sum is obtained by adding the third distance between the target detector and the secondary base station at the receiving moment to the fourth distance between the target detector and the uplink base station at the receiving moment.

[0106] In this embodiment of the invention, the second mode of local correlation interferometry is similar to the coherent three-way measurement mode in the Unified Command and Control System (UXB), defined as: the time when the uplink station Sta3 transmits the signal (fourth transmission signal) (Fourth launch time) Elapsed time (Second arrival time) Arrives at the detector, and is relayed by the detector to the secondary station Sta2 for reception. distance and (Second distance sum), and the time of the uplink station Sta3 transmitting the signal (third transmission signal). Time (First arrival time) Arrives at the detector, and is relayed by the detector to the main station Sta1 for reception. distance and The time difference corresponding to (first distance sum). The difference from the incoherent mode is that the distance calculation for both the master and slave stations is the sum of distances including uplink. The similarity is that the data timestamps are both the signal reception time, and they are the same for both the master and slave stations. Specifically:

[0107] Calculate the distance to the main station and The timescale of the measurement data is :

[0108] (1) Calculate the location of the main station ;

[0109] (2) Interpolation detector ephemeris ;

[0110] (3) Calculate the downlink distance of the main station The calculation steps are the same as those in the incoherent mode (i.e., the first model);

[0111] (4) Calculate the distance from the uplink station to the detector. .

[0112] Calculate the distance to the secondary station and The timescale of the measurement data is :

[0113] (5) Calculate the location of the main station ;

[0114] (6) Interpolation detector ephemeris ;

[0115] (7) Calculate the downlink distance of the main station The calculation steps are the same as those for calculating the downlink distance of the main station. Steps;

[0116] (8) Calculate the distance from the uplink station to the detector. The calculation steps are the same as calculating the uplink distance from the uplink station to the detector. The steps.

[0117] Specifically, if the number of base stations is expanded to three, defined as the main base station, secondary base station, and uplink base station, a more complex local correlation interferometry technique can be adopted to improve the accuracy of detector orbit calculation. First, both the main and secondary base stations are equipped with high-precision clocks and synchronization receivers to ensure signal reception synchronization. Then, through cross-checking and comparison of signals, it is confirmed that the third and fourth signals transmitted by the target detector were indeed received at the same reception time. Using the high-precision clock and timing system of the uplink base station, the third transmission time of the third transmitted signal and the fourth transmission time of the fourth transmitted signal are recorded. The target detector is equipped with dedicated signal receiving and decoding equipment, capable of accurately recording the first arrival time of the third transmitted signal and the second arrival time of the fourth transmitted signal. Based on the known location of the first base station (main base station), the location of the third base station (uplink base station), and the detector position of the target detector at the reception time obtained through ephemeris interpolation, the first distance between the main base station and the target detector and the second distance between the target detector and the uplink base station are calculated. Subsequently, these two distances are added together to obtain the first distance sum. Similar to the distance calculation for the primary base station, the third distance between the secondary base station and the target detector, and the fourth distance between the target detector and the uplink base station, are calculated using the location of the secondary base station and the same location information of the target detector at the time of reception. Finally, these two distances are added together to obtain the second distance sum.

[0118] Figure 4 This is a schematic diagram of an optional local correlation coherence three-way measurement according to an embodiment of the present invention, as shown below. Figure 4 As shown, three base stations have been established on Earth: the main station Sta1, the secondary station Sta2, and the uplink station Sta3. The probe... (Velocity vector, representing the speed and direction of the detector's motion) Motion, uplink station Sta3 at the time of launch Transmit a signal, which takes time The signal arrives at the detector and is relayed to the secondary station Sta2 for reception. distance and ( This represents the distance from the detector to the secondary station Sta2. (Distance from the detector to uplink station Sta3), uplink station Sta3 at the time of launch. Transmit a signal, which takes time The signal arrives at the detector and is relayed to the main station Sta1 for reception. distance and ( This represents the distance from the detector to the main station, Sta1. The distance from the detector to the uplink station Sta3.

[0119] In this embodiment, by introducing uplink base stations to participate in local correlation interferometry in coherent mode, signal redundancy and diversity are increased. This not only improves the robustness of signal transmission but also helps to more precisely identify and correct various error sources during signal transmission, including but not limited to atmospheric delay, ionospheric effects, Doppler shift, and relativistic effects. By accurately calculating the first and second distance sums, the ability to monitor the target probe's orbital state can be significantly enhanced, enabling high-precision orbit determination even in deep space exploration environments with extremely weak signals. Compared to traditional incoherent modes, measurements in coherent mode provide richer datasets, helping to improve the accuracy of orbit prediction and real-time adjustments. This provides a more accurate and reliable means of orbit determination for subsequent lunar and deep space exploration missions, especially for exploration of Jupiter, Pluto, and even the edge of the solar system. Furthermore, this coherent measurement mode based on multiple base stations can also reduce the bandwidth requirements for data transmission to some extent, optimizing resource allocation in deep space communication links.

[0120] To improve the accuracy of determining the second or fourth distance, in the detector orbit determination method provided in Embodiment 1 of this application, the steps are as follows: Step 1: Based on the arrival time and ephemeris, determine the detector position of the target detector at the arrival time, wherein the arrival time is either the first arrival time or the second arrival time; Step 2: Based on the position of the third base station and the detector position, determine the initial distance between the target detector and the uplink base station; Step 3: Based on the distance from the target detector to the center of mass of each celestial body, the distance from the uplink base station to the center of mass of each celestial body, and the initial distance, determine the relativistic light travel time; Step 4: Based on the relativistic light travel time and the speed of light, correct the initial distance to obtain the corrected distance; Step 5: Based on the corrected distance and the speed of light, determine the total light travel time; Step 6: Based on the arrival time and the total light travel time, determine the initial transmission time of the uplink base station; Using the initial transmission time as the new arrival time, repeat steps 1 to 6 until the absolute difference between the corrected distance determined in the current iteration and the corrected distance determined in the previous iteration is less than a preset distance threshold, and determine the corrected distance determined in the last iteration as the second or fourth distance.

[0121] In this embodiment of the invention, the distance from the uplink station to the detector is calculated. (Second distance):

[0122] 1) By obtaining the detector's relay time (First arrival time) and ephemeris (at the moment) (The position of the detector below) calculates the position of the uplink station at the corresponding time. (at the moment) (Location of the upstream station below).

[0123] 2) Initial value of the uplink distance:

[0124] (7);

[0125] 3) Calculate the relativistic optical travel time (RLT) based on the position vectors of the detector and the uplink station;

[0126] 4) Calculate the distance correction:

[0127] (8);

[0128] 5) Calculate the total optical travel time :

[0129] (9);

[0130] 6) Calculate the uplink station transmission time:

[0131] (10);

[0132] 7), by replace Repeat steps 1) through 6) until the current value is reached. Compared with the previous calculation value The difference between (the corrected distance determined in the previous iteration) The process ends at time m.

[0133] Calculate the uplink distance from the uplink station to the detector. (Fourth distance), the calculation steps are the same as calculating the distance from the uplink station to the detector. The calculation steps.

[0134] Specifically, using the GPS receiver carried by the detector and pre-set ephemeris data, interpolation calculations are performed to obtain the detector's exact position coordinates at the specified arrival time. Based on the location of the third uplink base station and the determined target detector location, the straight-line distance between them is calculated using basic geometric distance formulas to obtain the initial uplink distance. Combining the distance between the target detector and the center of mass of each celestial body (such as the Sun or planets), the distance from the uplink base station to the center of mass of each celestial body, and the initial uplink distance obtained in the previous step, the formula for calculating the travel time of light in general relativity is applied to accurately estimate the time extension experienced by the signal during propagation (relativistic travel time of light). Using the speed of light as a fixed parameter and combining it with the relativistic travel time of light, the actual propagation distance of the signal is recalculated to obtain the corrected distance. Based on the corrected distance and the speed of light, the total propagation time of the signal (total travel time of light), i.e., the time required for the signal to be sent from the uplink base station to the target detector, is calculated. The arrival time is subtracted from the obtained total travel time to determine the exact time when the uplink base station transmitted the signal. This time is then used as the new arrival time, restarting the calculation process from the beginning of step one. After completing one round of calculations, the initial launch time obtained in the previous round (i.e., the corrected arrival time) is used as the starting point for the new round of calculations. Steps one through six are repeated until the absolute difference between the corrected distance and the result of the previous iteration is lower than a preset distance threshold. The final determined corrected distance is regarded as the true distance between the target detector and the uplink base station, i.e., the second distance or the fourth distance.

[0135] In this embodiment, by introducing relativistic correction and iterative optimization mechanisms, the accuracy of distance and time measurements between the target probe and the uplink base station is significantly improved. This precise measurement is particularly crucial for orbit calculations in deep space environments, as it allows for a more accurate understanding of the probe's real-time dynamics, including its position, velocity, and orientation, thereby improving the reliability of orbit prediction and control. Especially when tracking spacecraft traveling billions of kilometers away, even minute distance errors can lead to significant deviations in orbit predictions.

[0136] To improve the accuracy of determining the observation partial derivative at each moment, in the detector orbit determination method provided in Embodiment 1 of this application, the local correlation delay of the target detector at each moment is determined based on all distances; the delay rate is determined based on the adjacent local correlation delays with a preset integration time interval; the first partial derivative of the local correlation delay with respect to the orbit information of the target detector is determined, and the second partial derivative of the delay rate with respect to the orbit information of the target detector is determined; the observation partial derivative is determined based on the first and second partial derivatives.

[0137] In this embodiment of the invention, in the locally correlated incoherent one-way measurement mode, based on the first downlink distance With the second downlink distance The absolute difference between them is used to calculate the local correlation delay of the detector. ,Right now Then, the local correlation delay rate of the detector is calculated. That is, if the latency integration time (preset integration time) is Then the latency can be expressed as: ,in, express Locally correlated latency at any given moment Indicates interval back The local correlated latency at each moment. Then, the latency is calculated. For the probe's position and velocity (orbital information) ( Indicates location, The partial derivative (first partial derivative) of velocity is given by the following formula:

[0138] (11);

[0139] (12);

[0140] in, express The detector's position at that moment, express The current location of the main station. express The detector's position at that moment, express The location of the secondary station at the current time. express The detector speed at that moment.

[0141] Calculate latency Regarding the position and velocity of the detector The partial derivative (second partial derivative) is given by the following formula:

[0142] (13);

[0143] (14);

[0144] in, express The current speed of the main site This indicates the speed between the detector and the master station. express The detector speed at that moment, express The speed of the secondary station at that moment The speed between the detector and the secondary station.

[0145] In the local correlation coherence three-pass measurement mode, the detector's local correlation coherence mode delay is calculated. ,Right now Calculate the detector's local correlation delay rate. The steps are the same as for the locally correlated incoherent one-way measurement mode. Calculate the delay. Regarding the position and velocity of the detector The partial derivatives are calculated using the same steps as for the locally correlated incoherent one-way measurement mode. The delay rate is then calculated. Regarding the position and velocity of the detector The partial derivatives are obtained by taking the same steps as in the local correlated incoherent one-way measurement mode.

[0146] Specifically, based on the obtained distance and the speed of light, the time difference is calculated. This time difference is the local correlation delay. For each measurement moment, a corresponding delay calculation is performed to construct a complete delay dataset. Based on the local correlation delay, within a preset integration time period (e.g., a few seconds or minutes), the ratio of the delay difference between adjacent measurement moments to the time interval is calculated, thus obtaining the delay rate. This process usually needs to be performed over a time series to ensure sufficient data coverage, thereby accurately reflecting the detector's velocity changes. Using the principles of differential calculus, the relationship between delay and delay rate and orbital information such as detector position and velocity is mathematically derived, determining the partial derivatives between each pair of variables. The first partial derivative reflects the direct impact of delay on orbital information, while the second partial derivative reveals the subtle correlation between the delay rate and orbital parameters. These partial derivatives will play a crucial role in the subsequent least squares orbit fitting, used to adjust orbital parameters to better match the observation data. The calculated first and second partial derivatives are then organized to construct a complete partial derivative matrix. Each row represents the time delay or delay rate at an observation moment, and each column corresponds to an orbital parameter, such as the probe's position coordinates and velocity components. This matrix forms the basis for least squares estimation and other statistical orbit determination methods, allowing the residuals of the observation data to be traced back to the uncertainties in the orbital parameters, thereby guiding precise orbit corrections.

[0147] In this embodiment, by accurately measuring and analyzing the time difference of signal propagation and its rate of change (time delay and delay rate), as well as the sensitivity of these parameters to changes in the probe's orbital information (partial derivatives), a refined calculation of the deep space probe's orbit is achieved. This not only helps improve the accuracy of orbit estimation but also maintains good orbit determination performance in weak signal environments, which is of great significance for subsequent deep space exploration missions, such as exploration of Jupiter, Pluto, and the edge of the solar system. By continuously monitoring the time delay and delay rate, and combining it with partial derivative matrix analysis, the probe's orbital parameters can be adjusted in real time to ensure that it flies accurately along the predetermined orbit, meeting the stringent accuracy requirements of deep space exploration missions.

[0148] To improve the accuracy of determining the velocity and position changes, the method for determining the probe orbit provided in Embodiment 1 of this application constructs an observation equation based on the measurement data and observation data at each moment. The measurement data includes at least the measured position and measured velocity of the target probe; the observation data includes observation values ​​determined by the local correlation observation model, and the observation values ​​include at least the local correlation time delay, the observed position and observed velocity of the target probe; based on the observation partial derivatives, the least squares estimation algorithm is used to solve the observation equation to obtain the velocity and position changes of the target probe at each moment.

[0149] In this embodiment of the invention, statistical orbit determination can be performed based on a unified telemetry and control system and local correlation interferometry. Specifically, the least squares estimation method is used for detector orbit determination. Least squares estimation can find estimated values ​​of detector orbit parameters and model parameters that minimize the sum of squares of the observation residuals calculated from the estimated values.

[0150] For the The observation equation for the set of measurement data can be described as:

[0151] (15);

[0152] in, This represents the i-th set of measurement data. It is a nonlinear function, representing The nonlinear function of the observed data X at time t. Indicates error.

[0153] right In reference state Linear expansion at the point yields:

[0154] (16);

[0155] in, , , G represents the calculated value. Indicates the initial time. Indicates a small quantity.

[0156] The overall observation equation can be expressed as:

[0157] (17);

[0158] Where H represents the state function and x represents the independent variable. Indicates a small quantity.

[0159] Its linear unbiased minimum variance estimate is:

[0160] (18);

[0161] in, This indicates the weighting settings for the observed data, where y represents the difference between the measured and calculated values.

[0162] The corresponding covariance matrix is:

[0163] (19);

[0164] Formula (18) can be used to improve the reference state and achieve statistical orbit determination.

[0165] here, That is, the observation partial derivative corresponding to the i-th measurement time. This is the state transition matrix, obtained through numerical integration.

[0166] Therefore, given the probe's initial orbit, station location, Earth's rotation parameters, and observed data, a least-squares improvement can be performed on the probe's orbital state. The weights of the measurement data are typically set based on the statistical results of the measurement data noise.

[0167] Lunar and deep space probes typically use UXB (Ultra-Ultra-Body-Body) systems for ranging and velocity measurements, and VLBI (Vehicle-Landed Biological) systems for time delay and delay rate determination. Ranging and velocity measurements constrain the radial direction of the probe's orbital system, while time delay and delay rate constrain the normal and track directions. Similarly, local correlation VLBI measurements, like traditional correlation measurements, cannot accurately calculate the probe's orbit relying solely on local correlation VLBI. Therefore, the probe orbit calculation strategy is shown in Table 3.

[0168] Table 3

[0169]

[0170] It should be noted that when the probe orbit is close to the celestial body, the system difference can be solved without constraints; when it is far away from the celestial body, the solution of the system difference will produce anomalies. At this time, it is necessary to use constrained solution of the system difference in order to control the solution of the measurement system difference within a reasonable range.

[0171] Specifically, the target probe's measured position and velocity at each moment can be collected first to ensure data accuracy and continuity. Local correlation delays, the target probe's observed position, and observed velocity are then integrated as additional observation data. Based on the measurement and observation data, observation equations are constructed. These equations relate the probe's dynamic parameters (such as position and velocity) to observed values ​​(such as delay and delay rate), forming a series of mathematical expressions that describe the relationship between the target probe's actual state and its measurement and observation data. Next, using the constructed observation equations and observation partial derivatives, observation matrices and partial derivative matrices are formed, ready for least-squares estimation. The least-squares estimation algorithm is applied by calculating the residuals between the observed values ​​and the model predictions, and minimizing the sum of squares of these residuals to obtain the optimal orbital parameter estimates.

[0172] In this embodiment, by constructing observation equations that integrate measurement data and indirect observation data from local correlation interferometry, and solving these equations using a least-squares estimation algorithm, a highly accurate estimate of the target probe's orbital state (including position and velocity) is achieved. This is particularly valuable for deep space exploration missions, where the additional observational information provided by local correlation interferometry becomes extremely precious under conditions of extremely weak signals. The introduction of observational partial derivatives further improves the accuracy of orbital estimation, as these derivatives reveal the subtle but crucial relationship between the observed values ​​and orbital parameters, guiding the algorithm to finely adjust the parameters. Through these steps, the orbital calculation capability is significantly enhanced, maintaining a high degree of control over the probe's state even in the deep space environment billions of kilometers away from Earth. This provides solid technical support for subsequent deep space exploration missions, including but not limited to the exploration of Jupiter, Pluto, and even the edge of the solar system.

[0173] The orbit determination method of this embodiment will be verified through simulation below.

[0174] Simulations were used to verify the correctness of the local correlation-based orbit determination method. In the incoherent mode, a lunar orbit was used, with the UXB measurement station being Jiamusi Station. The random distance measurement error was 1.0 meter, and the systematic error was 10 meters. The random velocity measurement error was 1.0 mm / s, and the systematic error was 0 mm / s. The orbit determination period was from August 1st to August 7th, 2024. Interferometric measurement stations included Shanghai Tianma Station, Kunming Station, and Urumqi Station. The random time delay error was 0.3 meters, and the systematic error was 0.1 meters. The random time delay rate error was 0.1 mm / s, and the systematic error was 0 mm / s. The orbit determination period was August 7th, 2024.

[0175] Figure 5 This is a schematic diagram of an optional incoherent mode time delay orbit determination residual map according to an embodiment of the present invention, such as... Figure 5As shown, with Time (hours) as the horizontal axis, The local correlation delay (m) is used as the vertical axis to show the VLBI delay residual map after the probe is orbited based on the Kunming-Tianma, Kunming-Urumqi, and Urumqi-Tianma measurement stations (2024-08-01).

[0176] Figure 6 This is a schematic diagram of an optional incoherent mode time delay rate orbit determination residual map according to an embodiment of the present invention, as shown below. Figure 6 As shown, with Time (hours) as the horizontal axis, The local correlation latency (mm / s) is used as the vertical axis to show the VLBI latency residual plot after the probe is orbited, based on the Kunming-Tianma, Kunming-Urumqi, and Urumqi-Tianma measurement stations (2024-08-01).

[0177] Figure 7 This is a schematic diagram of the ephemeris deviation diagram between optional incoherent mode orbit determination and VLBI-free orbit determination according to an embodiment of the present invention, as shown below. Figure 7 As shown, the position and velocity deviations in the XYZ directions of the orbit (August 1, 2024) are displayed, including: the upper part of the graph uses t (time) (hours) as the horizontal axis. (Position deviation) (m (meters)) is the ordinate, and the orbital XYZ direction (inclusive) is obtained through incoherent mode orbit determination. (These represent the position components in the three-dimensional XYZ directions, respectively) Position deviation (2024-08-01); The lower half of the graph uses t (time) (hour) as the horizontal axis. (Velocity deviation) (m / s) is used as the ordinate, showing the XYZ directions of the orbit obtained without VLBI (including: (representing the velocity components in the three-dimensional XYZ directions respectively) Velocity deviation (2024-08-01).

[0178] The coherent mode uses the Jiamusi, Kashgar, and Argentina stations in deep space orbit (UXB). The random distance measurement error is 1.0 meter, the systematic error is 10 meters, the random velocity measurement error is 1.0 mm / s, and the systematic error is 0 mm / s. The orbit measurement period is from May 29 to May 31, 2025. The interferometry stations include the Shanghai Tianma station, Urumqi station, Changbaishan station, and Shigatse station. The random time delay error is 0.3 meters, the systematic error is 0.1 meters, the random time delay rate error is 0.1 mm / s, and the systematic error is 0 mm / s. The orbit measurement period is from May 29 to May 30, 2025. The uplink stations are Jiamusi and Kashgar stations in sequence.

[0179] Figure 8This is a schematic diagram of an optional coherent mode time delay orbit determination residual map according to an embodiment of the present invention, such as... Figure 8 As shown, with Time (hours) as the horizontal axis, (m (meters)) is the vertical axis, showing the VLBI time delay residual diagram after the probe is orbited based on the measurement stations such as Tianma-Changbaishan, Tianma-Shigatse, Urumqi-Tianma, Urumqi-Changbaishan, Urumqi-Shigatse, and Changbaishan-Shigatse (2025-05-29).

[0180] Figure 9 This is a schematic diagram of an optional coherent mode delay rate orbit determination residual map according to an embodiment of the present invention, as shown below. Figure 9 As shown, with Time (hours) as the horizontal axis, The graph (mm / s) on the ordinate shows the VLBI time delay residuals after the probe was orbited, based on the measurement stations Tianma-Changbaishan, Tianma-Shigatse, Urumqi-Tianma, Urumqi-Changbaishan, Urumqi-Shigatse, and Changbaishan-Shigatse (2025-05-29).

[0181] Figure 10 This is a schematic diagram of an optional local correlation and conventional correlation interferometric orbit determination ephemeris deviation diagram according to an embodiment of the present invention, as shown below. Figure 10 As shown, the position and velocity deviations in the XYZ directions of the orbit (May 29, 2025) are displayed, including: the upper part of the graph uses t (time) (hours) as the horizontal axis. (m (meters)) is the ordinate, showing the XYZ directions of the orbit obtained through local correlation orbit determination (including: Position deviation (2025-05-29); the lower half of the graph uses t (time) (hour) as the horizontal axis. (m / s) is the ordinate, showing the XYZ directions of the orbit obtained by conventional correlation interferometry (including: Speed ​​deviation (2025-05-29).

[0182] The above analysis verifies the correctness of this embodiment. This embodiment is applicable to orbit determination of probes using local correlation modes in subsequent lunar and deep space exploration.

[0183] In this embodiment of the invention, the initial orbital information of the target probe, including its initial position and velocity, is first obtained. Then, based on this orbital information, the future ephemeris of the target probe, i.e., its expected position and velocity at each moment, is predicted using a dynamic model. Subsequently, based on the base station position of each base station and the predicted ephemeris, the theoretical distance between the target probe and each base station is calculated using a local correlation observation model, and the observation partial derivative at each moment is further determined. Finally, combining the actual measurement data and the calculated observation partial derivative, the least squares estimation algorithm is used to solve for the small changes in the velocity and position of the target probe at each moment. In this way, the orbital information of the probe is continuously iterated and optimized to ensure that the probe's orbit can be accurately determined even under extremely weak signal conditions. This achieves the goal of high-precision orbit determination in the weak signal environment of deep space exploration, thereby realizing the technical effect of precise measurement and real-time updating of the probe's orbital state. This solves the technical problem that traditional orbit determination methods cannot meet the accuracy requirements of deep space exploration missions due to signal attenuation.

[0184] The following is a detailed description with reference to another embodiment.

[0185] Example 2

[0186] The device for determining the probe orbit provided in this embodiment includes multiple implementation units, each of which corresponds to a specific implementation step in Embodiment 1 above.

[0187] Figure 11 This is a schematic diagram of an optional detector orbit determination device according to an embodiment of the present invention, such as... Figure 11 As shown, the determining device may include: an acquisition unit 1100, a first determining unit 1101, a second determining unit 1102, and a third determining unit 1103.

[0188] The acquisition unit 1100 is used to acquire the initial orbit information of the target detector, wherein the initial orbit information includes at least: initial position and initial velocity;

[0189] The first determining unit 1101 is used to determine the ephemeris of the target probe based on the initial orbit information and using a dynamic model, wherein the ephemeris includes the position and velocity of the target probe at each moment.

[0190] The second determining unit 1102 is used to determine the distance between the target detector and each base station at each time step based on the base station location and ephemeris of each base station using a local correlation observation model, and to determine the observation partial derivative at each time step based on all distances, wherein the number of base stations is at least two.

[0191] The third determining unit 1103 is used to determine the velocity change and position change of the target detector at each moment based on the measurement data and observation partial derivatives at each moment using the least squares estimation algorithm, and to determine the orbit of the target detector based on the initial orbit information, the velocity change and position change at each moment.

[0192] The aforementioned determination device can first acquire the initial orbital information of the target probe, including its initial position and velocity. Then, based on this orbital information, it uses a dynamic model to predict the future ephemeris of the target probe, i.e., its expected position and velocity at each moment. Subsequently, based on the base station position of each base station and the predicted ephemeris, it uses a local correlation observation model to calculate the theoretical distance between the target probe and each base station, and further determines the observation partial derivative at each moment. Finally, combining the actual measurement data and the calculated observation partial derivative, it uses a least squares estimation algorithm to solve for the small changes in the velocity and position of the target probe at each moment. In this way, it continuously iterates and optimizes the probe's orbital information, ensuring that the probe's orbit can be accurately determined even under extremely weak signal conditions. This achieves the goal of high-precision orbit determination in the weak signal environment of deep space exploration, thereby realizing the technical effect of precise measurement and real-time updating of the probe's orbital state. This solves the technical problem that traditional orbit determination methods cannot meet the accuracy requirements of deep space exploration missions due to signal attenuation.

[0193] Optionally, the first determining unit includes: a first determining module, used to determine the orbit type of the target probe, wherein the orbit type includes: lunar exploration orbit type and deep space exploration orbit type; a second determining module, used to determine the ephemeris of the target probe based on initial orbit information and a preset dynamic acceleration set when the orbit type is a lunar exploration orbit type, using a numerical integration algorithm, wherein the preset dynamic acceleration set includes at least one of the following: central mass, non-spherical perturbation, solar radiation pressure perturbation, other planetary perturbation, and post-Newton effect perturbation; and a first integration module, used to integrate the orbit of the target probe by changing the celestial center when the orbit type is a deep space exploration orbit type, based on initial orbit information and the preset dynamic acceleration set, to obtain the ephemeris of the target probe.

[0194] Optionally, the second determining unit includes: a first dividing module, used to divide the base stations into a primary base station and a secondary base station when there are two base stations; a third determining module, used to determine the first and second transmitted signals received by the primary base station and the secondary base station at the same receiving time, and to determine the first transmission time of the target detector transmitting the first transmitted signal and the second transmission time of the second transmitted signal; a fourth determining module, used to determine the first downlink distance of the primary base station based on the first base station location of the primary base station and the detector location of the target detector at the receiving time, wherein the detector location is determined by interpolating the ephemeris; the first downlink distance refers to the distance between the target detector and the primary base station at the receiving time; and a fifth determining module, used to determine the second downlink distance of the secondary base station based on the second base station location of the secondary base station and the detector location of the target detector at the receiving time, wherein the second downlink distance refers to the distance between the target detector and the secondary base station at the receiving time.

[0195] Optionally, the fourth determining module includes: a first determining submodule, used to execute step one, determining the initial distance between the target detector and the main base station based on the location of the first base station and the detector location, wherein the detector location is the location of the target detector at the receiving time; a second determining submodule, used to execute step two, determining the relativistic light travel time based on the distance from the target detector to the center of mass of each celestial body, the distance from the main base station to the center of mass of each celestial body, and the initial distance; a first correcting submodule, used to execute step three, correcting the initial distance based on the relativistic light travel time and the speed of light to obtain a corrected distance; a third determining submodule, used to execute step four, determining the total light travel time based on the corrected distance and the speed of light; a fourth determining submodule, used to execute step five, determining the initial transmission time of the target detector based on the receiving time and the total light travel time; and a first using submodule, used to take the initial transmission time as the new receiving time, repeating steps one to five above until the absolute difference between the corrected distance determined in the current iteration and the corrected distance determined in the previous iteration is less than a preset distance threshold, and determining the corrected distance determined in the last iteration as the first downlink distance.

[0196] Optionally, the second determining unit further includes: a second dividing module, used to divide the base stations into a main base station, a secondary base station, and an uplink base station when the number of base stations is three; a sixth determining module, used to determine the third and fourth transmitted signals received by the main base station and the secondary base station at the same receiving time; a seventh determining module, used to determine the third transmission time of the third transmitted signal transmitted by the uplink base station and the first arrival time of the third transmitted signal reaching the target detector, and to determine the fourth transmission time of the fourth transmitted signal transmitted by the uplink base station and the second arrival time of the fourth transmitted signal reaching the target detector; an eighth determining module, used to determine the first distance sum of the main base station based on the first base station position of the main base station, the third base station position of the uplink base station, and the detector position of the target detector at the receiving time, wherein the first distance sum is obtained by adding the first distance between the target detector and the main base station at the receiving time to the second distance between the target detector and the uplink base station at the receiving time; and a ninth determining module, used to determine the second distance sum of the secondary base station based on the second base station position of the secondary base station, the third base station position of the uplink base station, and the detector position of the target detector at the receiving time, wherein the second distance sum is obtained by adding the third distance between the target detector and the secondary base station at the receiving time to the fourth distance between the target detector and the uplink base station at the receiving time.

[0197] Optionally, the determining device further includes: a fourth determining unit, used to determine a second distance or a fourth distance, the determining steps being as follows: Step 1, based on the arrival time and ephemeris, determining the detector position of the target detector at the arrival time, wherein the arrival time is a first arrival time or a second arrival time; Step 2, based on the position of the third base station and the detector position, determining the initial distance between the target detector and the uplink base station; Step 3, based on the distance from the target detector to the center of mass of each celestial body, the distance from the uplink base station to the center of mass of each celestial body, and the initial distance, determining the relativistic light travel time; Step 4, based on the relativistic light travel time and the speed of light, correcting the initial distance to obtain a corrected distance; Step 5, based on the corrected distance and the speed of light, determining the total light travel time; Step 6, based on the arrival time and the total light travel time, determining the initial transmission time of the uplink base station; using the initial transmission time as the new arrival time, repeating steps 1 to 6 above until the absolute difference between the corrected distance determined in the current iteration and the corrected distance determined in the previous iteration is less than a preset distance threshold, and determining the corrected distance determined in the last iteration as the second distance or the fourth distance.

[0198] Optionally, the second determining unit further includes: a tenth determining module, used to determine the local correlation delay of the target detector at each moment based on all distances; an eleventh determining module, used to determine the delay rate based on the adjacent local correlation delays with a preset integration time interval; a twelfth determining module, used to determine the first partial derivative of the local correlation delay with respect to the orbital information of the target detector, and to determine the second partial derivative of the delay rate with respect to the orbital information of the target detector; and a thirteenth determining module, used to determine the observation partial derivative based on the first partial derivative and the second partial derivative.

[0199] Optionally, the third determining unit includes: a first construction module, used to construct an observation equation based on the measurement data and observation data at each moment, wherein the measurement data includes at least: the measurement position and measurement velocity of the target detector; the observation data includes: the observation values ​​determined by the local correlation observation model, and the observation values ​​include at least: the local correlation time delay, the observation position and observation velocity of the target detector; and a first solution module, used to solve the observation equation based on the observation partial derivatives using a least squares estimation algorithm to obtain the velocity change and position change of the target detector at each moment.

[0200] The aforementioned determining device may further include a processor and a memory. The aforementioned acquisition unit 1100, first determining unit 1101, second determining unit 1102, third determining unit 1103, etc., are all stored in the memory as program units, and the processor executes the aforementioned program units stored in the memory to realize the corresponding functions.

[0201] The aforementioned processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured. By adjusting kernel parameters, based on the measurement data and observation partial derivatives at each moment, a least-squares estimation algorithm is used to determine the velocity and position changes of the target probe at each moment. Based on the initial orbit information and the velocity and position changes at each moment, the orbit of the target probe is determined.

[0202] The aforementioned memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0203] The present invention also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having the following method steps: acquiring initial orbit information of a target detector; determining the ephemeris of the target detector using a dynamic model based on the initial orbit information; determining the distance between the target detector and each base station at each time step using a local correlation observation model based on the base station location and ephemeris of each base station; determining the observation partial derivative at each time step based on all distances; determining the velocity change and position change of the target detector at each time step using a least squares estimation algorithm based on the measurement data and observation partial derivative at each time step; and determining the orbit of the target detector based on the initial orbit information, the velocity change and position change at each time step.

[0204] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the method for determining the probe orbit of any of the above-mentioned methods.

[0205] According to another aspect of the present invention, an electronic device is also provided, including one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the above-described method for determining the detector orbit.

[0206] Figure 12 This is a hardware structure block diagram of an electronic device (or mobile device) for a method of determining a probe orbit according to an embodiment of the present invention. Figure 12 As shown, an electronic device may include one or more processors (e.g., Figure 12 The processors 1202a, 1202b, ..., 1202n, etc., may include, but are not limited to, processing devices such as microprocessors (MCUs) or programmable logic devices (FPGAs), and a memory 1204 for storing data. In addition, it may include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a keyboard, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 12 The structure shown is for illustrative purposes only and does not limit the structure of the electronic device described above. For example, the electronic device may also include components that are more... Figure 12 The more or fewer components shown, or having the same Figure 12 The different configurations shown.

[0207] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0208] The embodiments or examples disclosed herein are not exhaustive, but merely illustrative of some embodiments or examples, and are not intended to limit the scope of protection of this disclosure. Unless otherwise specified, each step in a particular embodiment or example can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a particular embodiment or example can also be implemented as an independent embodiment, and the order of the steps in a particular embodiment or example can be arbitrarily interchanged. Furthermore, optional methods or examples in a particular embodiment or example can be arbitrarily combined; moreover, embodiments or examples can be arbitrarily combined. For example, some or all steps of different embodiments or examples can be arbitrarily combined, and a particular embodiment or example can be arbitrarily combined with optional methods or examples of other embodiments or examples.

[0209] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0210] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection can be through some interfaces; the indirect coupling or communication connection of units or modules can be electrical or other forms.

[0211] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0212] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0213] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0214] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for determining the orbit of a probe, characterized in that, include: Acquire the initial orbit information of the target detector, wherein the initial orbit information includes at least: initial position and initial velocity; Based on the initial orbital information, a dynamic model is used to determine the ephemeris of the target probe, wherein the ephemeris includes the position and velocity of the target probe at each moment; Based on the location of each base station and the ephemeris, a local correlation observation model is used to determine the distance between the target detector and each base station at each time step, and based on all the distances, the observation partial derivative at each time step is determined, wherein the number of base stations is at least two. Based on the measurement data and the observed partial derivatives at each moment, the least squares estimation algorithm is used to determine the velocity change and position change of the target detector at each moment, and the orbit of the target detector is determined based on the initial orbit information, the velocity change and the position change at each moment.

2. The determination method according to claim 1, characterized in that, Based on the initial orbital information, the step of determining the ephemeris of the target probe using a dynamic model includes: The orbit type of the target probe is determined, wherein the orbit type includes: lunar exploration orbit type and deep space exploration orbit type; When the orbit type is the lunar exploration orbit type, the ephemeris of the target probe is determined by a numerical integration algorithm based on the initial orbit information and a preset set of dynamic accelerations, wherein the preset set of dynamic accelerations includes at least one of the following: central mass, non-spherical perturbation, solar radiation pressure perturbation, other planetary perturbation, and post-Newtonian effect perturbation; When the orbit type is the deep space exploration orbit type, based on the initial orbit information and the preset dynamic acceleration set, the orbit of the target probe is integrated by changing the celestial center to obtain the ephemeris of the target probe.

3. The determination method according to claim 1, characterized in that, The step of determining the distance between the target detector and each base station at each time moment using a local correlation observation model based on the base station location of each base station and the ephemeris includes: When there are two base stations, the base stations are divided into a main base station and a secondary base station; Determine the first and second transmitted signals received by the main base station and the secondary base station at the same receiving time, and determine the first transmission time when the target detector transmits the first transmitted signal and the second transmission time when it transmits the second transmitted signal; Based on the first base station location of the main base station and the detector location of the target detector at the receiving time, the first downlink distance of the main base station is determined, wherein the detector location is determined by interpolating the ephemeris; the first downlink distance refers to the distance between the target detector and the main base station at the receiving time. Based on the location of the second base station of the secondary base station and the location of the detector of the target detector at the receiving time, the second downlink distance of the secondary base station is determined, wherein the second downlink distance refers to the distance between the target detector and the secondary base station at the receiving time.

4. The determination method according to claim 3, characterized in that, The step of determining the first downlink distance of the main base station based on the first base station location of the main base station and the detector location of the target detector at the receiving time includes: Step 1: Based on the location of the first base station and the location of the detector, determine the initial distance between the target detector and the main base station, wherein the location of the detector is the location of the target detector at the receiving time; Step 2: Determine the relativistic light travel time based on the distance from the target detector to the center of mass of each celestial body, the distance from the main base station to the center of mass of each celestial body, and the initial distance; Step 3: Based on the relativistic travel time of light and the speed of light, the initial distance is corrected to obtain the corrected distance; Step 4: Determine the total optical path based on the corrected distance and the speed of light; Step 5: Based on the receiving time and the total optical path, determine the initial transmission time of the target detector; Using the initial transmission time as the new reception time, repeat steps one to five above until the absolute difference between the corrected distance determined in the current iteration and the corrected distance determined in the previous iteration is less than a preset distance threshold, and then determine the corrected distance determined in the last iteration as the first downlink distance.

5. The determination method according to claim 1, characterized in that, The step of determining the distance between the target detector and each base station at each time moment using a local correlation observation model based on the base station location of each base station and the ephemeris includes: When there are three base stations, the base stations are divided into a main base station, a secondary base station, and an uplink base station; Determine the third and fourth transmitted signals received by the main base station and the secondary base station at the same receiving time; The third transmission time of the uplink base station transmitting the third transmission signal and the first arrival time of the third transmission signal arriving at the target detector are determined; the fourth transmission time of the uplink base station transmitting the fourth transmission signal and the second arrival time of the fourth transmission signal arriving at the target detector are also determined. Based on the location of the first base station of the main base station, the location of the third base station of the uplink base station, and the location of the target detector at the receiving time, a first distance sum of the main base station is determined, wherein the first distance sum of the main base station is obtained by adding the first distance between the target detector and the main base station at the receiving time to the second distance between the target detector and the uplink base station at the receiving time; Based on the second base station location of the secondary base station, the third base station location of the uplink base station, and the detector location of the target detector at the receiving time, a second distance sum of the secondary base station is determined, wherein the second distance sum of the secondary base station is obtained by adding the third distance between the target detector and the secondary base station at the receiving time to the fourth distance between the target detector and the uplink base station at the receiving time.

6. The determination method according to claim 5, characterized in that, The steps for determining the second distance or the fourth distance are as follows: Step 1: Based on the arrival time and the ephemeris, determine the detector position of the target detector at the arrival time, wherein the arrival time is either the first arrival time or the second arrival time; Step 2: Based on the location of the third base station and the location of the detector, determine the initial distance between the target detector and the uplink base station; Step 3: Determine the relativistic optical travel time based on the distance from the target detector to the center of mass of each celestial body, the distance from the uplink base station to the center of mass of each celestial body, and the initial distance; Step four: Based on the relativistic travel time of light and the speed of light, the initial distance is corrected to obtain the corrected distance; Step 5: Determine the total optical path based on the corrected distance and the speed of light; Step 6: Based on the arrival time and the total optical rows, determine the initial transmission time of the uplink base station; Using the initial launch time as the new arrival time, repeat steps one through six above until the absolute difference between the corrected distance determined in the current iteration and the corrected distance determined in the previous iteration is less than a preset distance threshold, and then determine the corrected distance determined in the last iteration as the second distance or the fourth distance.

7. The determination method according to claim 1, characterized in that, The step of determining the observation partial derivative at each time step based on all the distances mentioned includes: Based on all the distances, determine the local correlation delay of the target detector at each moment; The latency rate is determined based on the adjacent local correlation latency with a preset integration duration at each interval; Determine the first partial derivative of the local correlation delay with respect to the orbital information of the target detector, and determine the second partial derivative of the delay rate with respect to the orbital information of the target detector; The observed partial derivative is determined based on the first partial derivative and the second partial derivative.

8. The determination method according to claim 1, characterized in that, Based on the measurement data and the observed partial derivatives at each moment, the steps of determining the velocity change and position change of the target detector at each moment using the least squares estimation algorithm include: Based on the measurement data and observation data at each moment, an observation equation is constructed, wherein the measurement data includes at least: the measurement position and measurement velocity of the target detector; the observation data includes: the observation values ​​determined by the local correlation observation model, wherein the observation values ​​include at least: the local correlation time delay, the observation position and observation velocity of the target detector; Based on the observed partial derivatives, the least squares estimation algorithm is used to solve the observation equation to obtain the velocity change and position change of the target detector at each moment.

9. A device for determining the orbit of a probe, characterized in that, include: An acquisition unit is used to acquire the initial orbit information of the target detector, wherein the initial orbit information includes at least: initial position and initial velocity; The first determining unit is used to determine the ephemeris of the target probe based on the initial orbit information using a dynamic model, wherein the ephemeris includes the position and velocity of the target probe at each moment; The second determining unit is used to determine the distance between the target detector and each of the base stations at each time moment based on the base station location of each base station and the ephemeris, using a local correlation observation model, and to determine the observation partial derivative at each time moment based on all the distances, wherein the number of base stations is at least two. The third determining unit is used to determine the velocity change and position change of the target detector at each moment based on the measurement data and the observation partial derivatives at each moment using the least squares estimation algorithm, and to determine the orbit of the target detector based on the initial orbit information, the velocity change and the position change at each moment.

10. An electronic device, characterized in that, It includes one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the method for determining the probe orbit as described in any one of claims 1 to 8.

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