A method and equipment for satellite orbit determination

Abstract

This disclosure relates to the field of satellite communication technology, and more particularly to a method and apparatus for satellite orbit determination. The method includes acquiring orbit determination information of an equivalent base station associated with a target satellite; wherein the equivalent base station includes at least a user terminal (UE); and obtaining an estimated state vector for orbit determination of the target satellite based on the orbit determination information. Through embodiments of this disclosure, satellite orbit determination can be achieved using widely distributed and numerous equivalent base stations, especially user terminals (UEs), even in situations such as GNSS rejection.

Description

Technical Field

[0001] This disclosure relates to the field of satellite communication technology, and in particular to a method and apparatus for satellite orbit determination. Background Technology

[0002] Acquiring precise satellite orbits is fundamental and a prerequisite for enabling communication, navigation, and remote sensing services. Currently, the main method for determining and predicting precise satellite orbits involves a ground system processing observation data such as pseudorange and carrier phase from the satellite and the Global Navigation Satellite System (GNSS) to achieve precise orbit determination, followed by orbit prediction based on dynamic models. However, GNSS signals are susceptible to interference and deception, making orbit determination and prediction systems that rely entirely on GNSS lacking in resilience.

[0003] Establishing a highly reliable satellite orbit determination method is an urgent problem to be solved. Summary of the Invention

[0004] To address the problems in the prior art, this disclosure provides a method and apparatus for satellite orbit determination, which solves the problem that satellite orbit determination in the prior art is highly dependent on GNSS.

[0005] This disclosure provides a method for satellite orbit determination, which is applied on the network side and includes: Obtain orbit determination information of an equivalent base station related to the target satellite; wherein, the equivalent base station includes at least a user terminal (UE). Based on the orbit determination information, an estimated state vector is obtained for determining the orbit of the target satellite.

[0006] As a further aspect of this disclosure, the relevant equivalent base station includes: a device that has a signal connection with the target satellite and provides the orbit determination information to the target satellite through the signal connection.

[0007] As a further aspect of this disclosure, the signal connection relationships include: communication connections, navigation connections, and / or remote sensing connections.

[0008] As a further aspect of this disclosure, the orbit determination information includes: observation information and spatiotemporal information of the equivalent base station.

[0009] As another further aspect of this disclosure, the observation information includes at least: the Doppler frequency shift and pseudorange between the equivalent base station and the target satellite, and the inter-satellite distance between the target satellite and neighboring satellites; the spatiotemporal information of the equivalent base station includes at least: the position coordinates, velocity coordinates, clock bias, and clock drift of the equivalent base station.

[0010] As a further aspect of this disclosure, obtaining the estimated state vector for orbit determination of the target satellite based on the orbit determination information further includes: Based on the orbit determination information, determine the error weight matrix of the observations of the equivalent base station; Based on the orbit determination information and the error weight matrix, the estimated state vector of the target satellite's orbit determination is obtained.

[0011] As a further aspect of this disclosure, determining the error weight matrix of the observations of the equivalent base station based on the orbit determination information further includes: Based on the orbit determination information, determine the covariance matrix of the equivalent observation error caused by the spatiotemporal information error of the equivalent base station; Determine the covariance matrix of the observation noise caused by thermal noise at the equivalent base station; The error weight matrix of the observations of the equivalent base station is obtained based on the covariance matrix of the equivalent observation error and the covariance matrix of the observation noise.

[0012] As a further aspect of this disclosure, obtaining the estimated state vector for orbit determination of the target satellite based on the orbit determination information and the error weight matrix further includes: Based on the initial spatiotemporal information and orbit determination information of the target satellite, the system state equation of the target satellite is constructed; Based on the system state equation, construct the multi-epoch observation equation for the target satellite; Based on the multi-epoch observation equation and the initial spatiotemporal information, the multi-epoch observation matrix is ​​obtained; Based on the multi-epoch observation matrix and the error weight matrix of the observations from the equivalent base station, an estimated state vector is obtained for orbit determination of the target satellite.

[0013] As another further aspect of this disclosure, the initial spatiotemporal information of the target satellite includes at least: the position coordinates, velocity coordinates, clock difference, and clock drift of the target satellite.

[0014] As another further aspect of this disclosure, the construction of the system state equation of the target satellite based on its initial spatiotemporal information and orbit determination information further includes: Based on the initial spatiotemporal information, the first state equation of the target satellite is constructed; Based on the orbit determination information, construct the relative clock drift state equations for the target satellite and the equivalent base station; Based on the orbit determination information, construct the relative clock difference state equation between the target satellite and the equivalent base station; Based on the first state equation, the relative clock drift state equation, and the relative clock difference state equation, the system state equation characterizing the state change relationship of the target satellite at any two epochs is constructed.

[0015] As another further aspect of this disclosure, constructing the multi-epoch observation equations of the target satellite based on the system state equations further includes: Based on the system state equation, construct the single-epoch observation equation for the target satellite; Based on the multiple single-epoch observation equations, the multi-epoch observation equations are constructed.

[0016] As another further aspect of this disclosure, constructing the multi-epoch observation equations based on the plurality of single-epoch observation equations further includes: The multi-epoch observation equation is constructed based on multiple single-epoch pseudorange observation equations, Doppler frequency shift observation equations, and inter-satellite distance observation equations between the equivalent base station and the target satellite.

[0017] As a further aspect of this disclosure, the estimated state vector for orbit determination of the target satellite, obtained based on the multi-epoch observation matrix and the error weight matrix of the observations from the equivalent base station, further includes: , in, Let be the estimated state vector of the target satellite. Let W be the multi-epoch observation matrix, W be the error weight matrix, and Y be the multi-epoch observations of the equivalent base station.

[0018] As another further aspect of this disclosure, after obtaining the estimated state vector for orbit determination of the target satellite, the method further includes: The estimated state vector is used to predict the orbit of the target satellite for future periods.

[0019] This disclosure also provides a method for satellite orbit determination, which is applied on the network side and includes: Obtain orbit determination information of the equivalent base station related to the target satellite; Based on the orbit determination information, determine the error weight matrix of the multi-epoch observations of the equivalent base station; Based on the orbit determination information and the error weight matrix, an estimated state vector is obtained for orbit determination of the target satellite.

[0020] This disclosure also provides a method for satellite orbit determination, which is applied to a target satellite and includes: Receive orbit determination information from an equivalent base station associated with the target satellite, wherein the equivalent base station includes at least a UE; The orbit determination information is sent so that the receiving end can obtain an estimated state vector for orbit determination of the target satellite based on the orbit determination information.

[0021] This disclosure also provides a network-side device, including: At least one processor; and At least one memory storing instructions that, when executed individually or jointly by the at least one processor, cause the network-side device to perform the method described above.

[0022] This disclosure also provides a satellite, including: At least one processor; and At least one memory storing instructions that, when executed individually or jointly by the at least one processor, cause the satellite to perform the methods described above.

[0023] This disclosure also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described above.

[0024] This disclosure also provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the above-described method.

[0025] This disclosure also provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described method.

[0026] Using the embodiments of this disclosure, satellite orbit determination can be achieved by utilizing a wide and numerous equivalent base stations, especially user terminals (UEs), which can accurately determine the orbit of satellites even when GNSS signals are rejected or the satellite-to-ground orbit determination time is long. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 The diagram shown is a schematic representation of a satellite orbit determination system according to an embodiment of this disclosure. Figure 2 The diagram shown is a flowchart of a satellite orbit determination method according to an embodiment of this disclosure; Figure 3 The diagram shown is a flowchart of another satellite orbit determination method according to an embodiment of this disclosure; Figure 4 The diagram shown is a flowchart of the method for constructing the system state equation according to an embodiment of this disclosure; Figure 5 The diagram shown is a flowchart of constructing satellite multi-epoch observation equations according to an embodiment of this disclosure; Figure 6 The diagram shown is a flowchart of a satellite orbit determination method according to an embodiment of this disclosure; Figure 7 The diagram shown is a flowchart of another satellite orbit determination method according to an embodiment of this disclosure; Figure 8 The diagram shown is a structural schematic of a satellite orbit determination device according to an embodiment of this disclosure; Figure 9 The diagram shown is a schematic representation of the network device according to an embodiment of this disclosure. Detailed Implementation

[0029] To enable those skilled in the art to better understand the technical solutions in this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0030] In the description of this disclosure, unless otherwise stated, "and / or" is a term describing the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone, where A and B can be singular or plural. Furthermore, in the description of this disclosure, unless otherwise stated, "multiple" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0031] In this disclosure, expressions such as "greater than" or "less than" may be used to determine whether a specific condition is met, but this is merely for illustrative purposes and is not intended to exclude expressions of "above" or "below". A condition expressed as "above" may be replaced by "greater than", a condition expressed as "below" may be replaced by "less than", and a condition expressed as "above and less than" may be replaced by "greater than and below". Furthermore, hereinafter, "A" to "B" represent at least one of the elements from A (inclusive) to B (inclusive).

[0032] In the embodiments of this disclosure, the singular forms "a," "the," etc., including the plural forms, should be broadly understood as "a kind" or "a class" rather than limited to the meaning of "an"; furthermore, the term "the" should be understood to include both the singular and plural forms, unless the context clearly indicates otherwise. Additionally, the term "according to" should be understood as "at least partially based on…," and the term "based on" should be understood as "at least partially based on…," unless the context clearly indicates otherwise.

[0033] This disclosure provides the operational steps of the methods described in the embodiments or flowcharts, but based on conventional or non-inventive labor, more or fewer operational steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only execution order. In actual system or device products, the methods shown in the embodiments or drawings can be executed sequentially or in parallel.

[0034] It should be noted that in the embodiments disclosed herein, certain software, components, models, and other existing solutions in the industry may be mentioned. These should be considered as exemplary and are intended only to illustrate the feasibility of implementing the technical solutions disclosed herein. However, they do not mean that the applicant has used or necessarily used such solutions.

[0035] This disclosure uses terminology used in some communication specifications (e.g., the 3rd Generation Partnership Project, 3GPP, the European Telecommunications Standards Institute, ETSI, Extensible Radio Access Network, ERAN, and Open-Radio Access Network, O-RAN) to illustrate various embodiments, but this is merely illustrative. The various embodiments of this disclosure can be readily modified and applied in other communication systems.

[0036] In the embodiments of this disclosure, communication between devices in the communication system can be carried out according to communication protocols at any stage, such as including but not limited to the following communication protocols: 1G (generation), 2G, 2.5G, 2.75G, 3G, 4G, 4.5G and 5G, New Radio (NR), etc., and / or other currently known or future communication protocols.

[0037] For ease of understanding, the technical terms involved in the embodiments of this disclosure will be explained below.

[0038] (1) Terminal: refers to a device that has wireless transceiver function and can cooperate with network-side equipment to provide communication services to users (including navigation, remote sensing, space computing and other services). This terminal can receive services from non-Geostationary Orbit (NGSO) satellite base stations. That is, the terminal connects to the NGSO satellite base station within the service cell of the NGSO satellite base station and receives the services of the NGSO satellite base station. The terminal is not connected to the GEO satellite system. When the terminal is in the avoidance area where the NGSO satellite base station interferes with the geostationary orbit (GEO) satellite system, it will be affected by the interruption of services of the NGSO satellite base station. For example, terminal devices can be mobile phones, tablets, laptops, wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless communication devices, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, Internet of Things (IoT) devices, narrowband Internet of Things (NB-IoT) devices, vehicle-to-everything (V2X) devices, devices in device-to-device communication (D2D), enhanced machine-type communication (eMTC) devices, and reduced-capacity devices. Capability (RedCap), cellular phones, cordless phones, Session Initiation Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants (PDAs), clients, handheld devices with wireless communication capabilities, vehicle-mounted devices, or shipboard devices, etc.

[0039] In scenarios such as the Internet of Things (IoT), the terminal can also be a machine or device for monitoring or measurement, such as including but not limited to: machine-type communication (MTC) terminals, vehicle communication terminals, device-to-device terminals, machine-to-machine (M2M) terminals, and so on.

[0040] (2) Network equipment: refers to network-side equipment capable of communicating with terminal equipment. Network equipment can be located on NGSO satellites, GEO satellites, or on the ground. Network equipment can also be called space base station, satellite-borne base station, satellite communication node, satellite network terminal equipment, satellite communication module, communication module payload, or base station, etc. This network-side equipment can also be called access network equipment or wireless access network equipment. Network-side equipment can be a base station (BTS) in a satellite-borne Global System for Mobile Communication (GSM) or Code Division Multiple Access (CDMA) communication system; a base station (NodeB, NB) in a satellite-borne Wideband Code Division Multiple Access (WCDMA) system; an evolved base station (eNB, eNodeB) in a satellite-borne LTE system; a base station in a terrestrial network or non-terrestrial network (NTN), such as a base station (gNB) in a satellite-borne 5G network; a base station in a future network (e.g., 6G) after 5G, carried by satellite; a base station in a future evolved Public Land Mobile Network (PLMN) network, carried by satellite; a Transmission Reception Point (TRP) carried by satellite; or a Cloud Radio Access Network carried by satellite. In the context of Networks (CRAN), wireless controllers can also be satellite-borne city base stations, micro base stations, pico base stations, or femtobase stations. Base stations can also be ground-based base stations capable of satellite communication, and can be referred to as Access Points (APs), 5G nodes (5th generation nodes), wireless points, or Transmission / Reception Points (TRPs), the latter having equivalent technical meanings. Network equipment can also refer to base station equipment carried by High Altitude Platform Stations (HAPS) with loiter capabilities, such as large balloons or airships, base station equipment in Roadside Units (RSUs), or base station equipment in vehicle-to-everything (V2X) networks.

[0041] Both terminal devices and network devices can perform beamforming, but this disclosure is not limited to this. In some embodiments, the terminal may or may not perform beamforming. Similarly, the network device may or may not perform beamforming. That is, only one of the terminal and network device may perform beamforming, or neither the terminal nor the network device may perform beamforming. In this disclosure, a beam refers to the spatial flow of signals in a wireless channel, formed by one or more antennas or antenna elements; such a formation process can be called beamforming.

[0042] Furthermore, the term "network side" or "network equipment side" refers to one side of the network, which can be a base station or include one or more network devices as described above. The term "terminal side" or "terminal equipment side" refers to the side of the user or terminal, which can be a UE or include one or more terminal devices as described above.

[0043] This disclosure provides a method for satellite orbit determination, such as... Figure 1 The diagram shows a satellite orbit determination system according to an embodiment of this disclosure. It utilizes a large number of equivalent base stations 100 to determine the orbit of satellite 200. These equivalent base stations 100 can be distributed on the ground, in low altitude, and in space, encompassing user terminals (UEs) 101, neighboring satellites (neighboring satellites) 102, and gateway stations 103 that communicate with satellite 200. It also includes devices capable of sending signals and information to the satellite, such as devices with navigation or remote sensing connections to the satellite, like high-orbit satellites 104, aircraft 105, drones 106, vehicles 107, ships 108, and user terminals 101. When satellite 200 interacts with these equivalent base stations 100, for example, when the satellite provides services to user terminal 101, establishes an inter-satellite link with neighboring satellites 102, or establishes a satellite-to-ground link with gateway station 103, the satellite will collect and record data in real time from time t0 to t... NThe orbit determination information between the satellite and each equivalent base station 100 at any given time includes, for example, multi-epoch observation information and spatiotemporal information of each equivalent base station. The multi-epoch observation information may include, for example, at least Doppler frequency shift information, pseudorange information, and inter-satellite distances between the satellite and neighboring satellites extracted from the corresponding signals of the equivalent base station 100 for communication and / or navigation and remote sensing. The spatiotemporal information of the equivalent base station 100 may include, for example, at least its position coordinates (3D coordinates), velocity coordinates (3D coordinates), clock bias, and clock drift, and may also include other spatiotemporal information, such as the spatiotemporal information error covariance. The spatiotemporal information of the equivalent base station 100 is measured or calculated by each equivalent base station associated with the satellite and transmitted to the satellite. When the satellite passes over a ground station (e.g., gateway station 103), gateway station 103 collects the multi-epoch observation information, spatiotemporal information, and corresponding error covariance of the equivalent base stations associated with the satellite via a satellite-to-ground link and forwards them uniformly to the operations control center 109.

[0044] As another embodiment, the operation and control center 109 can also obtain multi-epoch observation information of the satellite and spatiotemporal information of each related equivalent base station 100 through inter-satellite microwave or laser links.

[0045] Based on the aforementioned orbit determination information, the Operations Control Center 109 completed the precise orbit determination of the satellite. This orbit determination result can also be used as an initial value for orbit extrapolation through a dynamic model, thereby enabling the determination of the satellite's future orbit at future times (e.g., t). N+1 High-precision prediction of orbit (time).

[0046] The satellites in this disclosure may include, for example, low Earth orbit (LEO) satellites, medium Earth orbit (MEO) satellites, geostationary Earth orbit (GEO) satellites, inclined geosynchronous orbit (IGSO) satellites, highly elliptical orbit (HEO) satellites, and highly eccentric orbit (HEO) spacecraft.

[0047] like Figure 2The diagram shows a flowchart of a satellite orbit determination method according to an embodiment of this disclosure. The diagram describes a ground station (e.g., including gateway stations and / or operations control centers) receiving orbit determination information from an equivalent base station associated with the target satellite (hereinafter referred to as the target satellite). The target satellite is then orbited using this orbit determination information. This method enables rapid and accurate satellite orbit determination even when GNSS rejection occurs, or when regional station deployment and inter-satellite links are unstable, resulting in poor geometry of inter-satellite observations and requiring long-term data accumulation to improve spatial geometry, leading to long observation arcs and extended orbit determination times. The specific steps of this method include: Step 201: Obtain orbit determination information of the equivalent base station related to the target satellite; wherein the equivalent base station includes at least a user terminal (UE). Step 202: Based on the orbit determination information, obtain the estimated state vector for orbit determination of the target satellite.

[0048] By using the method in this embodiment, the ground station can solve the problem of long satellite orbit determination time and low accuracy in cases of GNSS signal rejection by receiving orbit determination information sent by the target satellite or by receiving orbit determination information sent by an equivalent base station related to the target satellite. The ground station can perform fast and accurate orbit determination of the target satellite by receiving orbit determination information sent by the target satellite or by receiving orbit determination information sent by an equivalent base station related to the target satellite.

[0049] In this embodiment of the disclosure, the relevant equivalent base station includes: a device that has a signal connection with the target satellite and provides the orbit determination information to the target satellite through the signal connection.

[0050] In this embodiment, the equivalent base station may include a user terminal (UE) capable of having a two-way signal connection (communication connection) with the target satellite, or a neighboring satellite, ground station (e.g., gateway station), etc. It may also include devices with navigation, remote sensing, or other connections with the target satellite, such as navigation devices (ships, aircraft, etc.) capable of transmitting signals to the target satellite, and remote sensing devices capable of transmitting signals to the target satellite. The target satellite can extract the Doppler frequency shift and pseudorange between itself and the equivalent base station, as well as the inter-satellite distance between the target satellite and neighboring satellites, from the signals. Figure 1 As can be seen from the example, the equivalent base station can include mobile phones, ships, spacecraft, aircraft, ground stations, etc.

[0051] In this embodiment of the disclosure, the orbit determination information includes: observation information and spatiotemporal information of the equivalent base station.

[0052] In this embodiment, when using the orbit determination information of the equivalent base station to determine the orbit of the target satellite, it is necessary to obtain the observation information of the equivalent base station and the spatiotemporal information of the equivalent base station.

[0053] The observation information includes at least: the Doppler frequency shift and pseudorange between the equivalent base station and the target satellite, and the inter-satellite distance between the target satellite and its neighboring satellites.

[0054] The Doppler frequency shift, pseudorange, and inter-satellite distance can all be obtained from the signals between the equivalent base station and the target satellite.

[0055] In some embodiments, pseudorange can be obtained from the corresponding signal according to the type of equivalent base station. For example, if the equivalent base station is a navigation terminal or navigation satellite, a dedicated ranging code (C / A code, P code, etc.) in the signal can be collected, and the code phase of the ranging code can be used for measurement; if the equivalent base station is a user terminal or gateway station, the synchronization header, preamble, pilot symbols, etc. in the signal can be collected, and the correlation peak value of the frame synchronization or continuous pilot can be used for measurement; if the equivalent base station is a remote sensing data receiving station, the frame synchronization code, carrier synchronization sequence, etc. in the signal can be collected, and the synchronization code delay of the remote sensing data frame can be used for measurement; if the equivalent base station is a neighboring satellite, the inter-satellite link synchronization code, ranging code, etc. in the signal can be collected, and pseudorange can be obtained through the communication link.

[0056] In some embodiments, the Doppler frequency shift of different types of equivalent base stations can be obtained. For example, if the equivalent base station is a navigation terminal or a navigation satellite, the Doppler frequency shift of the signal output by the carrier tracking loop can be obtained; if the equivalent base station is a user terminal or a gateway station, the Doppler frequency shift can be calculated using the phase change rate of the pilot symbol; if the equivalent base station is a remote sensing data receiving station, the Doppler frequency shift can be obtained using the frequency tracking result of the downlink carrier; if the equivalent base station is a neighboring satellite, the Doppler frequency shift can be obtained by tracking the inter-satellite link carrier.

[0057] In some embodiments, the inter-satellite distance can be calculated by transmitting and receiving ranging frames containing timestamps between the target satellite and its neighboring satellites.

[0058] The spatiotemporal information of the equivalent base station includes: the position coordinates, velocity coordinates, clock bias, clock drift, and error covariance of the equivalent base station.

[0059] Among them, the gate station and neighboring satellites can obtain position coordinates, velocity coordinates, clock bias, clock drift and error covariance through existing methods.

[0060] User terminals can obtain location coordinates and velocity coordinates through terrestrial cellular network base station positioning, WiFi positioning, or known locations, obtain clock bias and clock drift through network time synchronization, and determine the error covariance through empirical values ​​of positioning and time synchronization.

[0061] In some embodiments, the user terminal can also obtain position coordinates, velocity coordinates, clock error, and clock drift through a GNSS receiver, and calculate the error covariance.

[0062] Using the above method, widely distributed user terminals, neighboring satellites, and gateway stations connected to the target satellite via communication, navigation, and remote sensing are used as equivalent base stations. By comprehensively utilizing the observation information between the target satellite and the equivalent base stations, as well as the spatiotemporal information of the equivalent base stations, orbit determination can be achieved without constructing new infrastructure, effectively reducing system deployment costs. Especially when GNSS signals are limited, the orbit determination parameters of the target satellite can still be calculated using the observation and spatiotemporal information from the equivalent base stations.

[0063] like Figure 3 The diagram shows a flowchart of another satellite orbit determination method according to an embodiment of this disclosure. The diagram describes the process where a ground station (gateway station) acquires orbit determination information from an overpassing satellite and its associated equivalent base stations, and then transmits this information to a ground station (operations control center) with data processing capabilities for calculating satellite orbit determination parameters. In this embodiment, by establishing observation equations and state equations to fuse orbit determination information from multiple equivalent base stations, rapid orbit determination is achieved without relying on long-term observations to improve geometric configuration, thus shortening the orbit determination time. Furthermore, since the accuracy of the spatiotemporal information of equivalent base stations varies over time, weight allocation can be applied to the equivalent base stations or to the spatiotemporal information of each epoch. Regardless of the number of equivalent base stations, this can suppress error interference from inaccurate equivalent base stations during satellite orbit determination calculations, improving the reliability and robustness of the orbit determination results. The method specifically includes: Step 301: Construct the satellite's system state equations based on the satellite's initial spatiotemporal information and orbit determination information.

[0064] In this step, the initial spatiotemporal information of the satellite includes the target satellite's position coordinates, velocity coordinates, clock bias, and clock drift. In some embodiments, it may also include atmospheric drag coefficient and / or light pressure coefficient. The initial spatiotemporal information can be a rough estimate or a preset value.

[0065] In this embodiment of the disclosure, the system state equation for constructing the satellite can also be composed of a combination of multiple sub-state equations, such as... Figure 4 The diagram shows a flowchart of a method for constructing the system state equation according to an embodiment of this disclosure. The diagram illustrates the formation of the final system state equation after passing through a first state equation, a relative clock drift state equation, and a relative clock error state equation, which is then used to form the satellite's observation equations. The method in this embodiment includes: Step 401: Construct the first state equation of the satellite based on the initial spatiotemporal information of the satellite.

[0066] In this step, the first state equation is used to describe the position coordinates, velocity coordinates, and the parameters of the force model of the satellite. Among them, the vector formed by the position coordinates and velocity coordinates of the satellite in the Earth-Centered Inertial (ECI) coordinate system is X s , and the parameter atmospheric drag coefficient in the force model is C d , the radiation pressure coefficient is S r . The state vector composed of the satellite position coordinates, velocity coordinates, and force model parameters is X s,C,S . According to the satellite motion equation, the relationship between the satellite states at different epochs constitutes the first state equation (the state equation of the satellite's position, velocity, and force model parameters): , where, and are X k+1 and X k at times t s,C,S and t s,C,S respectively. The superscripts s, C, and S of X ( ) represent the combined vector of the satellite's position coordinates and velocity coordinates (s), the atmospheric drag coefficient (C), and the radiation pressure coefficient (S) respectively. ( ) is determined by the perturbation force model, the atmospheric drag coefficient model, and the radiation pressure coefficient model method.

[0067] Step 402: Construct the relative clock drift state equation of the satellite and the equivalent base station according to the orbit determination information of the equivalent base station.

[0068] In this step, the relative clock drift state equation is generated according to the clock drift of the satellite and the clock drift of each equivalent base station related to the satellite.

[0069] Denote the relative clock drift between the satellite and the equivalent base station as . This state reflects the frequency reference accuracy of the clocks of the equivalent base station and the satellite, and its expression is: , where, and are the clock drifts of the m-th equivalent base station and the satellite respectively, and M is the total number of equivalent base stations, 1 < m < M. Since the clock drifts of the spatio-temporal information of different equivalent base stations are different, the relationship between the relative clock drift changing with time is modeled as: . The state equation of the relative clock drift is: , where, and are tk+1 and t k The relative clock drift between the equivalent base station and the satellite at the time. express and The relationship.

[0070] Step 403: Based on the orbit determination information of the equivalent base station, construct the relative clock difference state equation between the satellite and the equivalent base station.

[0071] In this step, the relative clock bias state equation is generated based on the clock bias of the satellite and the clock bias of each equivalent base station associated with the satellite.

[0072] Let the relative clock difference between the satellite and the equivalent base station be denoted as . Its expression is: , in, and These are the clock biases of the m-th equivalent base station and the satellite, respectively, where M is the total number of base stations. <m<M。

[0073] The derivative of clock bias is clock drift, that is: , Zhong Piao Since it is a constant that does not change with time, clock bias can be modeled as a function that changes linearly with time, i.e., the relative clock bias state equation is: , in, and They are t k+1 and t k The relative clock difference and relative clock drift between the equivalent base station and the satellite. It is a constant. express and The clock difference relationship between them.

[0074] Step 404: Based on the first state equation, the relative clock drift state equation, and the relative clock difference state equation, construct the system state equation characterizing the state change relationship of the target satellite at any two epochs.

[0075] In this step, the satellite's orbit determination system state vector includes the satellite's position coordinates, velocity coordinates, atmospheric drag coefficient, light pressure coefficient, relative clock bias and relative clock drift between the equivalent base station and the satellite: , in, Let OD be the orbit determination system state vector of the satellite, and OD be the orbit determination system.

[0076] The system state equation is: , in, and They are t k+1 and t k The state vector of the orbit determination system at time t. express and The system state relationship between them Depend on , and Decide.

[0077] Step 302: Construct the satellite's multi-epoch observation equations based on the system state equations.

[0078] In this step, such as Figure 5 The diagram shows a flowchart of constructing a satellite multi-epoch observation equation according to an embodiment of this disclosure. The process of generating the multi-epoch observation equation to obtain observation information is described in this diagram. The observation information required to actually solve the orbit determination parameters (estimate the state vector) is obtained through the multi-epoch observation equation, which is obtained through a single-epoch observation equation. In this embodiment, the single-epoch observation information is further divided into two categories: one category is the Doppler frequency shift and pseudorange between the satellite and a first equivalent base station (e.g., user terminal, gateway station, etc.) with communication, navigation, and remote sensing connections; the other category is the inter-satellite distance between the satellite and its neighboring satellites (second equivalent base stations) with communication, navigation, and remote sensing connections. The method specifically includes: Step 501: Construct the single-epoch observation equation for the first equivalent base station.

[0079] In this step, let the k-th pseudorange of the m-th first equivalent base station (e.g., user terminal or gateway station) be ρ. m,k The k-th Doppler is f m,k Where m represents the equivalent base station number, k represents the epoch number, and the corresponding time is t. m,k The observation equation for pseudorange is expressed using the relative clock difference between the satellite and the equivalent base station, and the observation equation for Doppler frequency shift is expressed using the relative clock drift between the satellite and the equivalent base station. The single-epoch observation equation for pseudorange and Doppler frequency shift can be modeled as follows: , , in, It is t m,k The orbit determination system state vector at time (derived from the system state equation). It is t m,kThe state vector of the satellite's position coordinates, velocity coordinates, and force model parameters at that moment. The relationship between ECEF (geocentric-fixed) coordinates and ECI (geocentric-inertial) coordinates, representing the satellite's position and velocity. For in t m,k At any given moment, the combined vector of the satellite's position and velocity coordinates in the ECI coordinate system. These are the ECEF position coordinates of the satellite, the first... ECEF position coordinates of the first equivalent base station, ECEF velocity coordinates of the satellite, and the first The velocity coordinates of the ECEF of the first equivalent base station Modulo operation representing orientation quantities Represents the speed of light, I ρ T ρ , These represent the ranging error caused by the ionosphere, the ranging error caused by the troposphere, and the ranging error caused by interference, respectively. It is ρ m,k and Relationship, It is ρ m,k With t m,k The relationship between the ECEF coordinates of the satellite's position and velocity at a given time and the relative clock difference. It is the signal wavelength, I f T f , These represent the Doppler error caused by the ionosphere, the Doppler error caused by the troposphere, and the Doppler error caused by interference, respectively. yes and Relationship, It is f m,k With t m,k The relationship between the ECEF coordinates of the satellite's position and velocity at a given time and the relative clock drift.

[0080] Step 502: Construct the single-epoch observation equation for the second equivalent base station.

[0081] In this step, the preprocessing of the inter-satellite two-way observation data can effectively eliminate clock errors between the two sides through two-way combination, resulting in accurate inter-satellite distance observations. Let the inter-satellite distance of the j-th neighboring star be r. j,i The corresponding time is t j,i Then, the single-epoch observation equation for its inter-satellite distance can be modeled as: , in, It is t j,i The orbit determination system state vector at time (derived from the system state equation). For rj,i and Relationship, For t j,i The combined vector of the satellite's position and velocity coordinates in the ECI coordinate system at any given time. For r j,i and t j,i The relationship between the combined vectors of the satellite's position and velocity coordinates in the ECEF coordinate system at a given time. The relationship between ECEF (geocentric-fixed) coordinates and ECI (geocentric-inertial) coordinates, representing the satellite's position and velocity. , These are the ECEF position coordinates of the satellite, the first... ECEF position coordinates of the neighboring stars, v r,j,i This indicates inter-satellite ranging noise.

[0082] Step 503: Construct the multi-epoch observation equation based on the multiple single-epoch observation equations.

[0083] In this step, the multi-epoch observation equations Describes the multi-epoch observation Y and a certain time t e The satellite orbit determination system state vector Relationship: , Among them, multi-epoch observations The orbit determination system state vector represents all observational information used for precise orbit determination (pseudorange, Doppler, and inter-satellite distance). By t e The satellite's state vector consists of its position coordinates, velocity coordinates, relative clock bias and relative clock drift between the equivalent base station and the satellite, and may also include atmospheric drag coefficient and / or light pressure coefficient. For example, for medium Earth orbit and high Earth orbit satellites, the satellite's state vector includes position coordinates, velocity coordinates, relative clock bias and relative clock drift between the equivalent base station and the satellite, and light pressure coefficient. For low Earth orbit satellites, the satellite's state vector includes position coordinates, velocity coordinates, relative clock bias and relative clock drift between the equivalent base station and the satellite, and atmospheric drag coefficient. v represents the corresponding observation noise, which consists of all pseudorange observation noise, Doppler shift observation noise, and inter-satellite distance observation noise. Representing Y and The relationship is constructed by splicing together pseudorange observation equations, Doppler shift observation equations, and inter-satellite distance observation equations from multiple single epochs. All pseudorange, Doppler shift, and inter-satellite distance observations used for precise orbit determination are ρ, f, and r, respectively. Y can be modeled as: .

[0084] The observation equations for pseudorange ρ, Doppler shift f, and inter-satellite distance r are as follows: , , , Among them, v ρ v f v r These represent all pseudorange observation noise, Doppler shift observation noise, and inter-satellite distance observation noise, respectively. , and These represent the relationships between all pseudorange observations, Doppler shift observations, inter-satellite distance observations, and the orbit determination system state vector, respectively.

[0085] pseudorange observation function of orbit determination system The specific form is given by the following model: , Where, ρ m M represents the observation vector composed of all pseudoranges of the m-th first equivalent base station at different times. ρ To provide the first equivalent total number of base stations for pseudorange observation, and 1 <m<M ρ Let's take the m-th first equivalent base station as an example: , Among them, v ρ,m The pseudorange noise of the m-th first equivalent base station, This represents the relationship between all pseudoranges and orbit determination system state vectors of the m-th first equivalent base station.

[0086] pseudorange observation function The specific form is as follows: , Where, ρ m,1 , ρ m,k , ρ m,Kρ They represent the 1st, kth, and Kth of the mth first equivalent base stations, respectively. ρ The pseudorange observation of each epoch, K ρ This represents the number of pseudoranges for the m-th first equivalent base station. Let the times of signal reception corresponding to the above observations be denoted as follows: , Represent The pseudorange state vector of the orbit determination system at time t. Represent and The relationship is explained in the single-epoch pseudorange observation equation above.

[0087] Similarly, the Doppler frequency shift observation function of the orbit determination system The specific form is given by the following model: , Among them, f m It is a vector composed of the Doppler frequency shifts of all times at the m-th first equivalent base station. It is the total number of the first equivalent base stations providing Doppler frequency shift observations, and Let's take the m-th first equivalent base station as an example: , in, Represents the Doppler noise of the m-th first equivalent base station. This represents the relationship between all Doppler frequency shifts of the m-th first equivalent base station and the Doppler frequency shift state vector of the orbit determination system.

[0088] Doppler frequency shift function The specific form is as follows: , in, They represent the 1st, kth, and Kth of the mth first equivalent base stations, respectively. f Doppler frequency shift observations at each epoch, K f This represents the number of all Dopplers at the m-th first equivalent base station. Let the times of signal reception corresponding to the above observations be denoted as follows: , Represent The Doppler frequency shift state vector of the orbit determination system at a given time. Represent Doppler frequency shift observations and corresponding epochs The relationship between the Doppler frequency shift state vectors of the orbit determination system is given in the single-epoch Doppler frequency shift observation equation above.

[0089] Similarly, the inter-satellite distance function of the orbit determination system The specific form is given by the following model: , Where, r j It is the observation vector composed of all inter-star distances to the j-th neighboring star, where J is the total number of neighboring stars providing inter-star distance observations, and Let's take the j-th neighboring star as an example: , in, Representing the Inter-satellite distance noise of neighboring stars Representing the The relationship between all interstellar distances and state variables of a neighboring star.

[0090] function The specific form is as follows: , in, They represent the 1st, kth, and Kth neighboring stars, respectively. r Interstellar distance observations at each epoch, K r This represents the number of all inter-star distances to the j-th neighboring star. Let the times of signal reception corresponding to the above observations be denoted as follows: , Represent Inter-satellite distance state vector of the orbit determination system at any given time. Represent and The relationship is explained in detail in the single-epoch interstellar distance observation equation above.

[0091] Step 303: Obtain the multi-epoch observation matrix based on the multi-epoch observation equation and the initial spatiotemporal information.

[0092] In this step, the state vector of the orbit determination system is actually observed. The linearized, first-order Taylor expansion model is as follows: , Where y is the observation error, It is a multi-epoch observation matrix. It is the state error (the state error between the state vector in the initial spatiotemporal information and the actual observed state vector), that is... .

[0093] Step 304: Calculate the error weight matrix of the observations for all equivalent base stations.

[0094] In this step, all equivalent base station spatiotemporal information (including three-dimensional position, three-dimensional velocity, clock bias, and clock drift) is modeled as an N-dimensional random variable. Its mean is The covariance matrix of the spatiotemporal information error is (Given data), where N = 8 × M, M is the number of equivalent base stations, and 8 is the spatiotemporal information dimension of each equivalent base station as an example. From the multi-epoch observation equation, it can be seen that the multi-epoch observation Y and the spatiotemporal information of the equivalent base stations... The relationship between the two is denoted as: Y = g(x).

[0095] In this embodiment of the disclosure, the mapping relationship between the equivalent base station spatiotemporal information error and the observation error can be established using the third-order spherical-radial volume rule: In the third-order spherical-radial volume criterion, L represents the total number of volume points required for the third-order spherical-radial volume criterion. L =2 N One volume point, volume point for: , The weight w of each volume point i =1 / N OD N OD e is the dimension of the state vector of the orbit determination system. i Let S represent a unit vector whose i-th element is 1. x It is the covariance matrix P x Cholesky decomposition of the square root factor, i.e. .

[0096] Each volume point is processed by a nonlinear function. To spread, that is: .

[0097] For the volume point after propagation Perform a weighted summation (with weight w for each volume point) i (Summation) yields the equivalent observation error covariance matrix R1 caused by the spatiotemporal information error of the equivalent base station. When the observation is a single-epoch observation of multiple equivalent base stations, R1 characterizes the accuracy of the observation of each equivalent base station. When the observation is a multi-epoch observation of a certain equivalent base station, R1 characterizes the accuracy of the observation of different epochs of that equivalent base station. When the observation is a multi-epoch observation of multiple equivalent base stations, R1 characterizes the accuracy of the observation of different epochs of each equivalent base station.

[0098] Assume that the equivalent observation error caused by the spatiotemporal information error of the equivalent base station and the observation noise introduced by factors such as thermal noise are mutually independent zero-mean Gaussian white noise, and their covariance matrices are denoted as R1 and R2, respectively, where R2 is the covariance matrix of the observation noise caused by thermal noise. According to the additivity of independent Gaussian random variables, their joint distribution can be equivalent to a zero-mean Gaussian white noise with a covariance matrix R = R1 + R2 (i.e., the error weights of all equivalent base stations).

[0099] According to the least squares principle, the optimal weight matrix W is the inverse of the covariance matrix R, i.e.: W = R -1 .

[0100] In other embodiments, the Unscented Transform (UT, the core of the Unscented Kalman Filter UKF) method can also be used, or a set of deterministic sigma points can be propagated through a nonlinear function and weighted to obtain the equivalent observation error covariance matrix R1.

[0101] In other embodiments, the observation error covariance matrix R can be obtained by simulating the error propagation process through a large number of random samples using the Monte Carlo (MC) simulation method.

[0102] Step 305: Based on the multi-epoch observation matrix and the error weight matrix of the observations of the equivalent base station, obtain the estimated state vector for satellite orbit determination.

[0103] In this step, , in, Let be the estimated state vector of the satellite. Let W be the multi-epoch observation matrix, W be the error weight matrix, and Y be the multi-epoch observations of the equivalent base station.

[0104] After obtaining the estimated state vector of the satellite, the initial spatiotemporal information is updated using the calculated estimated state vector of the satellite, and the process returns to step 303 for iteration. After a preset number of iterations, or if the variance of the estimated state vector of the satellite obtained from two consecutive iterations is less than a preset threshold, the iteration stops, and the final estimated state vector of the satellite is output.

[0105] In some embodiments, after obtaining the estimated state vector of satellite orbit determination, the estimated state vector can be used as an initial value to generate a high-precision predicted orbit for future periods through dynamic extrapolation. This can directly support on-orbit operational applications such as orbit maneuvering, collision avoidance, satellite-to-ground / inter-satellite link planning, initial link alignment, and beam pointing planning.

[0106] In other embodiments, the estimated state vector can also be used to invert the physical properties of the satellite.

[0107] In other embodiments, least squares with prior information can also be used for orbit determination calculation.

[0108] The order of steps in the above embodiments can be adjusted as needed and is not limited to one execution order.

[0109] Through the methods described in the embodiments of this disclosure, the ground station can use a vast number of widely distributed user terminals, neighboring satellites, gateway stations, and other equipment as equivalent base stations. This not only forms a huge monitoring network in space but also utilizes a wider signal frequency band, making it difficult to suppress interference in both the spatial and frequency domains simultaneously, thus possessing stronger anti-interference capabilities. Similarly, due to the large number of equivalent base stations, it can naturally acquire observation data from a large number of equivalent base stations with excellent geometric configurations, without relying on the accumulation of long-term observation data to improve observation geometry, thereby improving the timeliness of satellite orbit determination. Furthermore, it does not have a strong dependence on continuous and stable inter-satellite links. Even when inter-satellite links are interrupted or unstable, the system can still rely on a large number of equivalent base stations for continuous orbit determination, improving service continuity and system reliability.

[0110] like Figure 6 The diagram shows a flowchart of a satellite orbit determination method according to an embodiment of this disclosure. The diagram describes a method for a target satellite to acquire orbit determination information and send it to a peer device to determine the target satellite's orbit. The peer device can be a gateway station of a ground station, a ground station's operations control center, or other ground equipment, aviation equipment, and / or aerospace equipment. The method includes: Step 601: Receive orbit determination information of an equivalent base station associated with the target satellite, wherein the equivalent base station includes at least a user terminal (UE).

[0111] Step 602: Send the orbit determination information so that the other end can obtain an estimated state vector for orbit determination of the target satellite based on the orbit determination information.

[0112] The counterpart may include ground stations (gateways, operations control centers, etc.) and may also include other satellites.

[0113] like Figure 7 The diagram shows a flowchart of another satellite orbit determination method according to an embodiment of this disclosure. The diagram illustrates an error weight matrix based on multi-epoch observations to characterize the contribution of each epoch observation from one or more equivalent base stations to orbit determination. Smaller equivalent observation errors caused by spatiotemporal information errors have higher weights (higher accuracy, larger contribution), while larger equivalent observation errors caused by spatiotemporal information errors have lower weights (lower accuracy, smaller contribution). For example, since the spatiotemporal information accuracy of neighboring satellites at different times or different neighboring satellites may differ, or the spatiotemporal information accuracy of different user terminals, gateway stations, or other equivalent base stations may differ, or when orbit determination can only be performed using signals from gateway stations and neighboring satellites, the spatiotemporal information errors of different neighboring satellites at different epochs will differ, resulting in different equivalent measurement errors. Weighting can fully consider the characteristics of spatiotemporal errors at different epochs of different equivalent base stations, thereby improving orbit determination efficiency and achieving higher accuracy orbit determination. The method includes: Step 701: Obtain orbit determination information of the equivalent base station related to the target satellite.

[0114] Step 702: Determine the error weight matrix of the multi-epoch observations of the equivalent base station based on the orbit determination information.

[0115] Step 703: Based on the orbit determination information and the error weight matrix, obtain the estimated state vector for orbit determination of the target satellite.

[0116] The processes in this embodiment can refer to the processes and calculation methods in the foregoing embodiments, and will not be repeated here.

[0117] like Figure 8 The diagram shown is a schematic representation of a satellite orbit determination device according to an embodiment of this disclosure. The diagram illustrates the logic component structure of the network-side device executing the aforementioned satellite orbit determination method. In this embodiment, the logic component implementing the method can be implemented by a general-purpose processor or a specially configured processor. Specifically, the device includes: The acquisition unit 801 is configured to acquire orbit determination information of an equivalent base station associated with the target satellite; wherein the equivalent base station includes at least a user terminal (UE).

[0118] The orbit determination unit 802 is configured to obtain an estimated state vector for determining the orbit of the target satellite based on the orbit determination information.

[0119] The apparatus described in the above-described embodiments of this disclosure can solve the problem of being unable to determine the orbit of a satellite in situations such as GNSS signal rejection, and can perform rapid and accurate orbit determination of the target satellite through widely distributed equivalent base stations.

[0120] In another embodiment, the target satellite may also include a receiving unit configured to receive orbit determination information from an equivalent base station associated with the target satellite, wherein the equivalent base station includes at least a UE; and a transmitting unit configured to transmit the orbit determination information so that the peer obtains an estimated state vector for orbit determination of the target satellite based on the orbit determination information.

[0121] For ease of description, the above apparatus is described by dividing it into various functional units. Of course, in implementing this disclosure, the functions of each unit can be implemented in one or more software and / or hardware.

[0122] Figure 9 The diagram shown is a schematic representation of the network device according to an embodiment of this disclosure. Figure 9 As shown, the network device 900 may include a processor 910 (e.g., a central processing unit CPU) and a memory 920; the memory 920 is coupled to the processor 910. The memory 920 can store various types of data; it also stores an information processing program 930, and executes the program 930 under the control of the processor 910.

[0123] For example, processor 910 can be configured to execute a program to implement the satellite orbit determination method as described in the previous embodiment. For example, processor 910 can be configured to perform the following control: acquire orbit determination information of an equivalent base station associated with a target satellite; wherein the equivalent base station includes at least a user terminal; and obtain an estimated state vector for orbit determination of the target satellite based on the orbit determination information.

[0124] Alternatively, the processor 910 of the network device in this embodiment may also be configured to receive orbit determination information of an equivalent base station associated with the target satellite; and send the orbit determination information so that the peer (which may be another network device in this embodiment) obtains an estimated state vector for orbit determination of the target satellite based on the orbit determination information.

[0125] Alternatively, the processor 910 of the network device in this embodiment can also be configured to acquire orbit determination information of an equivalent base station associated with the target satellite; determine the error weight matrix of the multi-epoch observations of the equivalent base station based on the orbit determination information; and obtain an estimated state vector for orbit determination of the target satellite based on the orbit determination information and the error weight matrix.

[0126] In addition, such as Figure 9 As shown, network device 900 may also include: transceiver 940 and antenna 950, etc.; the functions of the above components are similar to those in the prior art, and will not be described in detail here. It is worth noting that network device 900 is not necessarily required to include... Figure 9 All components shown; in addition, network device 800 may also include Figure 9 For components not shown, please refer to existing technologies.

[0127] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), computer-readable storage media, and computer program products of embodiments. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processor to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processor, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0128] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processor to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0129] These computer program instructions may also be loaded onto a computer or other programmable data processor, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable device for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0130] In a typical configuration, a computer device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0131] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0132] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by computer equipment. As defined in this disclosure, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0133] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, embodiments of this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0134] Embodiments of this disclosure can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. Embodiments of this disclosure can also be practiced in distributed computing environments where tasks are performed by remote processors connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0135] It should also be understood that, in the embodiments of this disclosure, the term "and / or" is merely a description of the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following associated objects have an "or" relationship.

[0136] The various embodiments in this disclosure are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0137] In the description of this disclosure, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the embodiments of this disclosure. In this disclosure, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this disclosure, as well as the features of different embodiments or examples.

[0138] The above description is merely an embodiment of this disclosure and is not intended to limit the scope of this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of the claims of this disclosure.

Claims

1. A method of orbit determination of a satellite, characterized in that This method is applied to the network side and includes: Obtain orbit determination information of an equivalent base station related to the target satellite; wherein, the equivalent base station includes at least a user terminal (UE); Based on the orbit determination information, an estimated state vector is obtained for determining the orbit of the target satellite.

2. The method of claim 1, wherein, The relevant equivalent base station includes: a device that has a signal connection with the target satellite and provides the orbit determination information to the target satellite through the signal connection.

3. The method of claim 2, wherein, The signal connection relationships include: Communication connections, navigation connections, and / or remote sensing connections.

4. The method of claim 1, wherein, The orbit determination information includes: observation information and spatiotemporal information of the equivalent base station.

5. The method of claim 4, wherein, The observation information includes at least: the Doppler frequency shift and pseudorange between the equivalent base station and the target satellite, and the inter-satellite distance between the target satellite and its neighboring satellites; The spatiotemporal information of the equivalent base station includes at least the position coordinates, velocity coordinates, clock bias, and clock drift of the equivalent base station.

6. The method of claim 1, wherein, Based on the orbit determination information, obtaining the estimated state vector for orbit determination of the target satellite further includes: Based on the orbit determination information, determine the error weight matrix of the observations of the equivalent base station; Based on the orbit determination information and the error weight matrix, an estimated state vector is obtained for orbit determination of the target satellite.

7. The method of claim 6, wherein, Based on the orbit determination information, determining the error weight matrix of the observations of the equivalent base station further includes: Based on the orbit determination information, determine the covariance matrix of the equivalent observation error caused by the spatiotemporal information error of the equivalent base station; Determine the covariance matrix of the observation noise caused by thermal noise at the equivalent base station; The error weight matrix of the observations of the equivalent base station is obtained based on the covariance matrix of the equivalent observation error and the covariance matrix of the observation noise.

8. The method of claim 6, wherein, Based on the orbit determination information and the error weight matrix, the estimated state vector for orbit determination of the target satellite further includes: Based on the initial spatiotemporal information and orbit determination information of the target satellite, the system state equation of the target satellite is constructed; Based on the system state equation, construct the multi-epoch observation equation for the target satellite; Based on the multi-epoch observation equation and the initial spatiotemporal information, the multi-epoch observation matrix is ​​obtained; Based on the multi-epoch observation matrix and the error weight matrix of the observations from the equivalent base station, an estimated state vector is obtained for orbit determination of the target satellite.

9. The method of claim 8, wherein, The initial spatiotemporal information of the target satellite includes at least the target satellite's position coordinates, velocity coordinates, atmospheric drag coefficient, light pressure coefficient, clock error, and clock drift.

10. The method of claim 9, wherein, Based on the initial spatiotemporal information and orbit determination information of the target satellite, the construction of the system state equation of the target satellite further includes: Based on the initial spatiotemporal information, the first state equation of the target satellite is constructed; Based on the orbit determination information, construct the relative clock drift state equations for the target satellite and the equivalent base station; Based on the orbit determination information, construct the relative clock difference state equation between the target satellite and the equivalent base station; Based on the first state equation, the relative clock drift state equation, and the relative clock difference state equation, the system state equation characterizing the state change relationship of the target satellite at any two epochs is constructed.

11. The method of claim 8, wherein, Based on the system state equation, constructing the multi-epoch observation equation for the target satellite further includes: Based on the system state equation, construct the single-epoch observation equation for the target satellite; Based on the multiple single-epoch observation equations, the multi-epoch observation equations are constructed.

12. The method of claim 11, wherein, Constructing the multi-epoch observation equations based on the multiple single-epoch observation equations further includes: The multi-epoch observation equation is constructed based on multiple single-epoch pseudorange observation equations, Doppler frequency shift observation equations, and inter-satellite distance observation equations between the equivalent base station and the target satellite.

13. The method of claim 8, wherein, Based on the multi-epoch observation matrix and the error weight matrix of the observations from the equivalent base station, the estimated state vector for orbit determination of the target satellite further includes: ， wherein, is an estimated state vector of the target satellite, is a multi-epoch observation matrix of the target satellite, W is an error weight matrix, and Y is a multi-epoch observation of the equivalent base station.

14. The method according to claim 1, characterized in that, After obtaining the estimated state vector for orbit determination of the target satellite, the process further includes: The estimated state vector is used to predict the orbit of the target satellite for future periods.

15. A method for satellite orbit determination, characterized in that... This method is applied to the network side and includes: Obtain orbit determination information of the equivalent base station related to the target satellite; Based on the orbit determination information, determine the error weight matrix of the multi-epoch observations of the equivalent base station; Based on the orbit determination information and the error weight matrix, an estimated state vector is obtained for orbit determination of the target satellite.

16. A method for satellite orbit determination, characterized in that... This method is applied to target satellites, including: Receive orbit determination information from an equivalent base station associated with the target satellite, wherein the equivalent base station includes at least a UE; The orbit determination information is sent so that the receiving end can obtain an estimated state vector for orbit determination of the target satellite based on the orbit determination information.

17. A network-side device, characterized in that, include: At least one processor; as well as At least one memory storing instructions that, when executed individually or jointly by the at least one processor, cause the network-side device to perform the method according to any one of claims 1 to 15.

18. A satellite, characterized in that, include: At least one processor; as well as At least one memory storing instructions that, when executed individually or jointly by the at least one processor, cause the satellite to perform the method according to claim 16.

19. A computer storage medium storing instructions thereon, characterized in that, When the instructions are executed individually or jointly by at least one processor of a computer device, the computer device performs the method according to any one of claims 1 to 15 or claim 16.

20. A computer program product, comprising instructions, characterized in that, When executed individually or jointly by at least one processor of a computer device, the instructions cause the computer device to perform the method according to any one of claims 1 to 15 or claim 16.

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