A short-arc double-pulse orbit determination method for continuously co-visibility observed maneuvering target

Abstract

The application discloses a short-arc double-pulse orbit determination method for continuously co-visibility observed maneuvering targets, and the method comprises the following steps: acquiring a continuous co-visibility observation sequence of a maneuvering target, dividing the continuous co-visibility observation sequence into a plurality of observation arc segments according to a preset observation time length, and determining target orbit determination results of the maneuvering target at ending moments of the observation arc segments in the continuous co-visibility observation sequence according to initial orbit determination results of the maneuvering target at starting moments of the observation arc segments, perturbation forces and maneuvering forces suffered by the maneuvering target at any observation moment in the observation arc segments, and in sequence. In the process of determining the target orbit determination results of the maneuvering target, the perturbation forces and the maneuvering forces suffered by the maneuvering target are considered simultaneously, and the problem that the orbit determination results of the maneuvering target are inaccurate due to the fact that the maneuvering forces suffered by the maneuvering target are not considered in the related art is solved.

Description

Technical Field

[0001] This application belongs to the field of space traffic management, and specifically relates to a short-arc dual-pulse orbit determination method for continuous common-view observation of maneuvering targets. Background Technology

[0002] Space targets will perform orbital maneuvers during operation to maintain or reach a certain orbital state. When conditions permit, the space traffic management system can observe maneuvering targets. During the observation process, continuous observation data is needed to determine the orbit determination results of maneuvering targets.

[0003] The relevant schemes mainly use the least squares method and Kalman filtering method to process the observation data of maneuvering targets, and then determine the trajectory determination results of the maneuvering targets. However, the least squares method and Kalman filtering method do not consider the maneuvering forces acting on the maneuvering targets when processing the observation data, which leads to inaccurate trajectory determination results for the maneuvering targets. Summary of the Invention

[0004] The purpose of this application is to provide a short-arc dual-pulse orbit determination method for continuous common-view observation of maneuvering targets, which can solve the problem of low accuracy of orbit determination results for maneuvering targets.

[0005] To solve the above-mentioned technical problems, this application is implemented as follows: In a first aspect, embodiments of this application provide a short-arc dual-pulse orbit determination method for continuously co-observing maneuvering targets, the method comprising: A continuous common-view observation sequence of a maneuvering target is obtained, wherein the continuous common-view observation sequence includes observation data corresponding to several observation times, and the observation data at each observation time includes the angle and distance of the maneuvering target; The continuous common-view observation sequence is divided into several observation arcs according to the preset observation duration; According to the order of the observation arcs in the continuous common-view observation sequence, based on the initial orbit determination results of the maneuvering target at the start time of the observation arc and the perturbation and maneuvering forces experienced by the maneuvering target at any observation time within the observation arc, the target orbit determination results of the maneuvering target at the end time of each observation arc in the continuous common-view observation sequence are determined sequentially; wherein, the initial orbit determination result of the maneuvering target at the start time of the first ranked observation arc in the continuous common-view observation sequence is determined based on the observation data at the start time of the first ranked observation arc, and the initial orbit determination results of the maneuvering target at the start time of the second and subsequent ranked observation arcs in the continuous common-view observation sequence are the target orbit determination results of the maneuvering target at the end time of the observation arc of the previous time sequence.

[0006] Optionally, the step of determining the target trajectory determination result of the maneuvering target at the end of each observation arc in the continuous common-view observation sequence based on the initial trajectory determination result of the maneuvering target at the start time of the observation arc and the perturbation force and kinetic force experienced by the maneuvering target at any observation time within the observation arc includes: For any observation time of any observation arc segment, the trajectory determination result of the maneuvering target at the observation time is determined based on the initial trajectory determination result of the maneuvering target at the start time of the observation arc segment and the perturbation force and kinetic force experienced by the maneuvering target at the observation time. Based on the orbit determination results of the maneuvering target at the observation time, determine the target correction parameters of the initial orbit determination results; The initial orbit determination result is corrected based on the target correction parameters of the initial orbit determination result to obtain the target orbit determination result of the maneuvering target at the end of the observation arc.

[0007] Optionally, determining the orbit determination result of the maneuvering target at the observation time based on the initial orbit determination result of the maneuvering target at the start time of the observation arc and the perturbation force and kinetic force acting on the maneuvering target at the observation time includes: Based on the perturbation force experienced by the maneuvering target at the observation time and the initial orbit determination result of the maneuvering target at the start time of the observation arc, the sensitivity of the perturbation force relative to the initial orbit determination result is determined. Based on the maneuvering force experienced by the maneuvering target at the observation time and the initial orbit determination result of the maneuvering target at the start time of the observation arc, the sensitivity of the maneuvering force relative to the initial orbit determination result is determined. Based on the perturbation force, the maneuvering force, the sensitivity of the perturbation force to the initial orbit determination result, and the sensitivity of the maneuvering force to the initial orbit determination result, the orbit determination result and state transition matrix of the maneuvering target at the observation time are determined, wherein the state transition matrix is ​​a matrix used to describe the change of the orbit determination result from the start time of the observation arc to the observation time.

[0008] Optionally, determining the target correction parameters of the initial orbit determination result based on the orbit determination result of the maneuvering target at the observation time includes: Based on the orbit determination results of the maneuvering target at the observation time, the observation equation and observation residual of the maneuvering target at the observation time are determined respectively. Based on the observation equations of the maneuvering target at several observation times within the observation arc, correction parameters are determined to make several observation residuals satisfy preset conditions, and these correction parameters are used as target correction parameters for the initial orbit determination results.

[0009] Optionally, determining the observation equations of the maneuvering target at the observation time based on the orbit determination results of the maneuvering target at the observation time includes: Obtain the actual observations of the maneuvering target at the observation time and the correction parameters of the initial orbit determination result; Based on the orbit determination results of the maneuvering target at the observation time and the actual observations, determine the observation residuals of the maneuvering target at the observation time; The observation equation for the maneuvering target at the observation time is determined based on the observation residual of the maneuvering target at the observation time, the actual observation, the initial orbit determination result, the state transition matrix, and the correction parameters of the initial orbit determination result.

[0010] Optionally, determining the observation residual of the maneuvering target at the observation time based on the orbit determination result of the maneuvering target at the observation time and the actual observations includes: Based on the orbit determination results of the maneuvering target at the observation time, determine the reference observations of the maneuvering target at the observation time; Based on the reference and actual observations of the maneuvering target at the observation time, the observation residual of the maneuvering target at the observation time is determined.

[0011] Optionally, there are two observation times within a plurality of observation times in each observation arc segment, and the maneuvering target is subjected to maneuvering force at each of the two observation times.

[0012] Secondly, embodiments of this application provide a short-arc dual-pulse orbit determination device for continuous common-view observation of maneuvering targets, the short-arc dual-pulse orbit determination device for continuous common-view observation of maneuvering targets includes: The data acquisition module is used to acquire a continuous common-view observation sequence of a maneuvering target, wherein the continuous common-view observation sequence includes observation data corresponding to several observation times, and the observation data at each observation time includes the angle and distance of the maneuvering target; The observation arc segment division module is used to divide the continuous co-view observation sequence into several observation arc segments according to a preset observation duration; The orbit determination result module is used to determine the target orbit determination result of the maneuvering target at the end of each observation arc in the continuous common-view observation sequence according to the order of the several observation arcs in the continuous common-view observation sequence, based on the initial orbit determination result of the maneuvering target at the start time of the observation arc in the pre-acquired initial orbit determination result and the perturbation force and kinetic force experienced by the maneuvering target at any observation time within the observation arc in the observation arc; wherein, the initial orbit determination result of the maneuvering target at the start time of the first ranked observation arc in the continuous common-view observation sequence is determined based on the observation data at the start time of the first ranked observation arc, and the initial orbit determination result of the maneuvering target at the start time of the second and subsequent ranked observation arcs in the continuous common-view observation sequence is the target orbit determination result of the maneuvering target at the end time of the observation arc in the previous time sequence.

[0013] Optionally, the orbit determination result module includes: The orbit determination result determination submodule is used to determine the orbit determination result of the maneuvering target at any observation time for any observation arc segment, based on the initial orbit determination result of the maneuvering target at the start time of the observation arc segment and the perturbation force and kinetic force experienced by the maneuvering target at the observation time. The target correction parameter determination submodule is used to determine the target correction parameters of the initial orbit determination result based on the orbit determination result of the maneuvering target at the observation time. The orbit determination result correction submodule is used to correct the initial orbit determination result according to the target correction parameters of the initial orbit determination result, so as to obtain the target orbit determination result of the maneuvering target at the end of the observation arc.

[0014] Optionally, the orbit determination result determination submodule includes: The first partial derivative calculation unit is used to determine the sensitivity of the perturbation force relative to the initial orbit determination result based on the perturbation force experienced by the maneuvering target at the observation time and the initial orbit determination result of the maneuvering target at the start time of the observation arc. The second partial derivative calculation unit is used to determine the sensitivity of the maneuvering force relative to the initial orbit determination result based on the maneuvering force experienced by the maneuvering target at the observation time and the initial orbit determination result of the maneuvering target at the start time of the observation arc. The orbit determination result calculation unit is used to determine the orbit determination result and state transition matrix of the maneuvering target at the observation time based on the perturbation force, the kinetic force, the sensitivity of the perturbation force to the initial orbit determination result, and the sensitivity of the kinetic force to the initial orbit determination result. The state transition matrix is ​​a matrix used to describe the change of the orbit determination result from the start time of the observation arc to the observation time.

[0015] Optionally, the target correction parameter determination submodule includes: The observation equation construction unit is used to determine the observation equation and observation residual of the maneuvering target at the observation time based on the trajectory determination result of the maneuvering target at the observation time. The target correction parameter determination unit is used to determine, based on the observation equation of the maneuvering target at several observation times within the observation arc, correction parameters that make several observation residuals satisfy preset conditions, and to use the correction parameters that make several observation residuals satisfy preset conditions as target correction parameters of the initial orbit determination result.

[0016] Optionally, the observation equation construction unit includes: The data acquisition subunit is used to acquire the actual observations of the maneuvering target at the observation time and the correction parameters of the initial orbit determination result; The observation residual calculation subunit is used to determine the observation residual of the maneuvering target at the observation time based on the orbit determination result of the maneuvering target at the observation time and the actual observation. An observation equation construction sub-unit is used to determine the observation equation of the maneuvering target at the observation time based on the observation residual of the maneuvering target at the observation time, the actual observation, the initial orbit determination result, the state transition matrix, and the correction parameters of the initial orbit determination result.

[0017] Optionally, the observation residual calculation subunit includes: A reference observation calculation node is used to determine the reference observation of the maneuvering target at the observation time based on the orbit determination result of the maneuvering target at the observation time. The observation residual calculation node is used to determine the observation residual of the maneuvering target at the observation time based on the reference observation and the actual observation of the maneuvering target at the observation time.

[0018] Optionally, there are two observation times within a plurality of observation times in each observation arc segment, and the maneuvering target is subjected to maneuvering force at each of the two observation times.

[0019] Thirdly, embodiments of this application provide an electronic device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method described in the first aspect.

[0020] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0021] Fifthly, embodiments of this application provide a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the method as described in the first aspect.

[0022] In this embodiment, a continuous common-view observation sequence of a maneuvering target is obtained. The continuous common-view observation sequence includes observation data corresponding to several observation times. The observation data at each observation time includes the angle and distance of the maneuvering target. The continuous common-view observation sequence is divided into several observation arcs according to a preset observation duration. According to the order of several observation arcs in the continuous common-view observation sequence, based on the initial orbit determination result of the maneuvering target at the start time of the observation arc and the perturbation and maneuvering forces experienced by the maneuvering target at any observation time within the observation arc, the target orbit determination result of the maneuvering target at the end time of each observation arc in the continuous common-view observation sequence is determined sequentially. The initial orbit determination result of the maneuvering target at the start time of the first ranked observation arc in the continuous common-view observation sequence is determined based on the observation data at the start time of the first ranked observation arc. The initial orbit determination results of the maneuvering target at the start time of the second and subsequent ranked observation arcs in the continuous common-view observation sequence are the target orbit determination results of the maneuvering target at the end time of the observation arc of the previous time sequence. This application considers the maneuvering forces acting on the maneuvering target during the determination of the target orbit determination results, making the determined orbit determination results closer to the actual motion state of the maneuvering target. This solves the problem of inaccurate orbit determination results for maneuvering targets caused by related schemes that do not consider the maneuvering forces acting on the maneuvering target. Furthermore, this application divides the continuous common-view observation sequence into several observation arcs, and sequentially determines the target orbit determination results of the maneuvering target at the end time of each observation arc, enabling continuous orbit determination for targets in a maneuvering state, facilitating subsequent support for space traffic management tasks. In addition, when determining the target orbit determination results of the maneuvering target at the end time of each observation arc, the initial orbit determination results of the maneuvering target at the start time of the current observation arc are inherited from the target orbit determination results of the maneuvering target at the end time of the previous observation arc. Thus, for each observation arc, it is not necessary to redetermine the initial orbit determination results of the maneuvering target, which not only improves the efficiency of target orbit determination but also ensures a smooth transition of orbit states between two consecutive observation arcs. Attached Figure Description

[0023] Figure 1 This is a flowchart illustrating the steps of a short-arc dual-pulse orbit determination method for continuous common-view observation of maneuvering targets provided in an embodiment of this application; Figure 2 This is a schematic diagram of an equivalent model of short-arc double-pulse maneuvering provided in an embodiment of this application; Figure 3 This is a block diagram of a short-arc dual-pulse orbit determination device for continuous common-view observation of maneuvering targets provided in an embodiment of this application; Figure 4 This is a structural diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

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

[0025] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0026] The following description, in conjunction with the accompanying drawings, details a short-arc dual-pulse orbit determination method for continuous common-view observation of maneuvering targets provided in this application, through specific embodiments and application scenarios.

[0027] Figure 1 This is a flowchart illustrating the steps of a short-arc dual-pulse orbit determination method for continuous common-view observation of maneuvering targets provided in an embodiment of this application. Figure 1 As shown, the method includes: Step 101: Obtain the continuous common-view observation sequence of the maneuvering target, wherein the continuous common-view observation sequence includes observation data corresponding to several observation times, and the observation data at each observation time includes the angle and distance of the maneuvering target.

[0028] Step 102: Divide the continuous co-observation sequence into several observation arcs according to the preset observation duration.

[0029] Step 103: According to the order of several observation arcs in the continuous common-view observation sequence, based on the initial orbit determination results of the maneuvering target at the start time of the observation arc and the perturbation and maneuvering forces experienced by the maneuvering target at any observation time within the observation arc, the target orbit determination results of the maneuvering target at the end time of each observation arc in the continuous common-view observation sequence are determined sequentially; wherein, the initial orbit determination result of the maneuvering target at the start time of the first ranked observation arc in the continuous common-view observation sequence is determined based on the observation data at the start time of the first ranked observation arc, and the initial orbit determination results of the maneuvering target at the start time of the second and subsequent ranked observation arcs in the continuous common-view observation sequence are the target orbit determination results of the maneuvering target at the end time of the observation arc of the previous time sequence.

[0030] In some embodiments of this application, a continuous common-view observation sequence of a maneuvering target is obtained. The continuous common-view observation sequence is generally an optical observation sequence or a radar observation sequence of the maneuvering target. The continuous common-view observation sequence includes observation data corresponding to several observation times. The observation data at each observation time includes the angle and distance of the maneuvering target.

[0031] According to the preset observation duration The continuous common-view observation sequence is divided into several observation arcs. The start and end times of each observation arc are obtained, where the start time can be represented as... The end time can be expressed as Several observation arc segments are sorted in ascending order of their starting times, resulting in a sorted set of observation arc segments, which can be denoted as follows: , , ... ……,in, This refers to the sequence number of the observed arc segment.

[0032] Following the order of several observation arcs in a continuous common-view observation sequence, starting from the first observation arc... Initially, based on the initial orbit determination results of the maneuvering target at the start time of the pre-acquired observation arc and the perturbation and kinetic forces experienced by the maneuvering target at any observation time within the observation arc, the target orbit determination results of the maneuvering target at the end time of each observation arc in the continuous common-view observation sequence are determined sequentially.

[0033] In this sequence of continuous common-view observations, the initial orbit determination of the maneuvering target at the start of the first observation arc is determined based on the observation data at the start of the first observation arc. From the first observation arc... In the sliding forward recursive orbit determination process, the initial orbit determination result of the maneuvering target at the beginning time of the second and subsequent observation arcs in the continuous common-view observation sequence is the target orbit determination result of the maneuvering target at the end time of the previous observation arc; the target orbit determination result of the maneuvering target at the end time of the observation arc can be expressed as: , For the target orbit determination results, The serial number of the observed arc segment. The location of the mobile target. For the speed of the moving target, These are the dynamic parameters. and Together, they constitute the trajectory parameters of the maneuvering target; the target orbit determination result of the maneuvering target at the end of the last observation arc after convergence can be expressed as: , The orbital parameters of the maneuvering target at the end of the last observation arc segment. This provides the maneuvering parameters of the maneuvering target at the end of the last observation arc. During the recursive orbit determination process from the first observation arc, the target orbit determination results of the maneuvering target during the observation process can be continuously output, and the target orbit determination results of the maneuvering target can be continuously transmitted externally as orbit information to support space traffic management tasks.

[0034] For example: the initial orbit determination result of the maneuvering target at the start of the second observation arc is the target orbit determination result of the maneuvering target at the end of the first observation arc; the initial orbit determination result of the maneuvering target at the start of the third observation arc is the target orbit determination result of the maneuvering target at the end of the second observation arc; the initial orbit determination result of the maneuvering target at the start of the fourth observation arc is the target orbit determination result of the maneuvering target at the end of the third observation arc, and so on.

[0035] Furthermore, the application scenarios of this application can be scenarios where maneuvering targets are observed by single-station, dual-station, or multi-station optical or radar co-view. The more observation stations there are, the higher the accuracy of the orbit determination results for the maneuvering target.

[0036] This application considers the maneuvering forces acting on the maneuvering target during the determination of the target orbit determination results, making the determined orbit determination results closer to the actual motion state of the maneuvering target. This solves the problem of inaccurate orbit determination results for maneuvering targets caused by related schemes that do not consider the maneuvering forces acting on the maneuvering target. Furthermore, this application divides the continuous common-view observation sequence into several observation arcs, and sequentially determines the target orbit determination results of the maneuvering target at the end time of each observation arc, enabling continuous orbit determination for targets in a maneuvering state, facilitating subsequent support for space traffic management tasks. In addition, when determining the target orbit determination results of the maneuvering target at the end time of each observation arc, the initial orbit determination results of the maneuvering target at the start time of the current observation arc are inherited from the target orbit determination results of the maneuvering target at the end time of the previous observation arc. Thus, for each observation arc, it is not necessary to redetermine the initial orbit determination results of the maneuvering target, which not only improves the efficiency of target orbit determination but also ensures a smooth transition of orbit states between two consecutive observation arcs.

[0037] Furthermore, in some embodiments of this application, step 103 may also include the following steps: Step 1031: For any observation time of any observation arc segment, determine the trajectory determination result of the maneuvering target at the observation time based on the initial trajectory determination result of the maneuvering target at the start time of the observation arc segment and the perturbation force and kinetic force experienced by the maneuvering target at the observation time.

[0038] Step 1032: Determine the target correction parameters for the initial orbit determination result based on the orbit determination result of the maneuvering target at the observation time.

[0039] Step 1033: Correct the initial orbit determination result according to the target correction parameter of the initial orbit determination result to obtain the target orbit determination result of the maneuvering target at the end of the observation arc.

[0040] In some embodiments of this application, for any observation time within any observation arc, the trajectory determination result of the maneuvering target at the observation time is determined based on the initial trajectory determination result of the maneuvering target at the start time of the observation arc and the perturbation and maneuvering forces acting on the maneuvering target at the observation time. Based on the trajectory determination result of the maneuvering target at the observation time, target correction parameters for the initial trajectory determination result are determined. The initial trajectory determination result is corrected based on the target correction parameters to obtain the target trajectory determination result of the maneuvering target at the end time of the observation arc. Specifically, the target trajectory determination result of the maneuvering target at the end time of the observation arc = target correction parameters for the initial trajectory determination result + initial trajectory determination result, wherein the target trajectory determination result of the maneuvering target at the end time of the observation arc includes the maneuvering target's trajectory parameters (e.g., the maneuvering target's position and velocity) and maneuvering force parameters.

[0041] This application, for any observation time within any observation arc segment, determines the trajectory determination result of the maneuvering target at the observation time based on the initial trajectory determination result of the maneuvering target at the beginning of the observation arc segment and the perturbation and kinetic forces acting on the maneuvering target at the observation time. This not only enables the calculation of the trajectory determination result for any observation time within the observation arc segment based on the initial trajectory determination result, but also considers both perturbation and kinetic forces simultaneously when calculating the trajectory determination result for any observation time. This ensures that the calculated trajectory determination result for any observation time reflects the actual motion state of the maneuvering target under the combined effects of perturbation and kinetic forces. Furthermore, this application modifies the initial trajectory determination result of the maneuvering target at the beginning of the observation arc segment, while the target trajectory determination result of the maneuvering target at the end of the observation arc segment is obtained through the dynamic evolution of the initial trajectory determination result over the entire observation arc segment. Therefore, the target trajectory determination result is closer to the true value and more accurate, providing a precise initial trajectory determination result for the recursive processing of the next observation arc segment.

[0042] Furthermore, in some embodiments of this application, step 1031 may also include the following steps: Sub-step 11: Based on the perturbation force experienced by the maneuvering target at the observation time and the initial orbit determination result of the maneuvering target at the start of the observation arc, determine the sensitivity of the perturbation force relative to the initial orbit determination result.

[0043] Sub-step 12: Based on the maneuvering force experienced by the maneuvering target at the observation time and the initial orbit determination result of the maneuvering target at the start of the observation arc, determine the sensitivity of the maneuvering force relative to the initial orbit determination result.

[0044] Sub-step 13: Based on the perturbation force, the maneuvering force, the sensitivity of the perturbation force to the initial orbit determination result, and the sensitivity of the maneuvering force to the initial orbit determination result, determine the orbit determination result and state transition matrix of the maneuvering target at the observation time. The state transition matrix is ​​a matrix used to describe the change of the orbit determination result from the start time of the observation arc to the observation time.

[0045] In some embodiments of this application, the numerical integration method is used to perform orbit integration on the perturbation force and the motor force experienced by the maneuvering target at any observation time within the observation arc, so as to obtain the orbit determination result and state transition matrix of the maneuvering target at the observation time.

[0046] Specifically, during orbital integration, the integration time needs to be calculated based on the perturbation model. driving force ; Calculate the integration time based on the short-arc double-pulse maneuver equivalent model Mobility Based on the perturbation force acting on the maneuvering target at the observation time (i.e., the integration time). driving force The initial orbit determination results of the maneuvering target at the start time of the observation arc segment. Calculate the partial derivative of the perturbation force with respect to the initial orbit determination result. That is, the sensitivity of the perturbation force to the initial orbit determination result; based on the maneuvering force experienced by the target at the observation time (i.e., the integration time). Mobility The initial orbit determination results of the maneuvering target at the start time of the observation arc segment. Determine the partial derivatives of the motor forces with respect to the initial orbit determination results. This refers to the sensitivity of the dynamic force to the initial orbit determination result. The integration time is any observation time within the observation arc.

[0047] For any observation time within the observation arc, based on the perturbation force, the maneuvering force, the sensitivity of the perturbation force to the initial orbit determination result, and the sensitivity of the maneuvering force to the initial orbit determination result, the orbit determination result of the maneuvering target at the observation time and the state transition matrix from the start time to the observation time (i.e., the integration time) of the observation arc can be calculated. The orbit determination result of the maneuvering target at the observation time can be expressed as... The state transition matrix is ​​a matrix used to describe the change in orbit determination results from the start time of the observed arc segment to the observation time.

[0048] The trajectory dynamic equations during the target maneuver are shown in equation (1): Formula (1) in, Let be the second derivative of the target's state parameters with respect to time. For the state parameters of the target, , The location of the target. For the target speed, The perturbations acting on a target include Earth's gravity, gravitational perturbations from third bodies, and light pressure perturbations. The driving force exerted on the target.

[0049] During the maneuver, the force exerted on the target changes over time, as shown in formula (2).

[0050] Formula (2) in, The driving force acting on the target. It refers to... The function, For time, The location of the mobile target. The speed of the moving target.

[0051] Since the actual maneuvering forces of a non-cooperative target are generally unavailable in determining its trajectory, an equivalent model of the target's actual maneuvering forces is proposed to characterize these forces. This model is described as follows: [Example of short-arc double-pulse maneuvering equivalent model]. Figure 2 As shown. During flight, the target will continuously conduct a common-view observation sequence at preset observation intervals. Divided into several observation arcs, such as Figure 2 As shown, the continuous common-view observation sequence was divided into 5 observation arcs. Figure 2 In To observe the starting time of the arc segment, The preset observation duration is set to indicate the end time of the observed arc segment. This can be measured in minutes. Within the observation arc, the target is considered to have two pulses of maneuvering force. That is, the target experiences maneuvering force at two specific moments within the observation arc, while the target's maneuvering force is zero at other moments. These two specific moments can be called maneuvering moments. The preset observation duration is... It can last for 2 minutes.

[0052] The functional models of the short-arc double-pulse maneuver equivalent model are shown in Equations (3), (4), (5), (6), and (7).

[0053] Formula (3) Formula (4) Formula (5) Formula (6) Formula (7) in, For the velocity direction of the moving target, Normal to the orbital plane, In the radial direction, Let be the force exerted on the target in the direction of velocity. Let the mechanical force acting on the target in the normal direction of the orbital plane be denoted as . Let be the dynamic force acting on the target in the radial direction. , , These are the dynamic parameters. For maneuvering time, This is the starting time of the observed arc segment.

[0054] That is, it is assumed that during the maneuver moment At that time, the maneuverability of the moving target is At other observation times within the observation arc, the maneuvering target is unaffected by the maneuverability. For example... Figure 2As shown, the timing of the two maneuvers is shown in Equation (8) and Equation (9), respectively.

[0055] Formula (8) Formula (9) in, For the first maneuver moment, For the second maneuver moment, To preset the observation duration, This is the starting time of the observed arc segment.

[0056] The general expression for the maneuver model is shown in formula (10).

[0057] Formula (10) in, The driving force acting on the target. The transformation matrix from the body coordinate system to the inertial frame of the maneuvering target is obtained using... Transform the maneuvering forces expressed in the body coordinate system of the maneuvering target to the inertial coordinate system. The functional model for the maneuver equivalent model is a function of the maneuvering target's position and velocity. These are the parameters of the maneuvering model (i.e., maneuvering parameters). The maneuvering parameters are different for each observation arc segment. Include , , , , , .

[0058] In determining the trajectory of a maneuvering target, the parameters of the maneuvering model (i.e., maneuvering parameters) are used. As part of the target orbit determination results, the orbit parameters of the maneuvering target are used in the orbit determination process. , The orbit determination result of the maneuvering target can be obtained by solving the equations together. The orbit dynamics equation of the maneuvering target is shown in formula (11).

[0059] Formula (11) in, Let be the first derivative of the position of the maneuvering target with respect to time. It is the identity matrix. , , The trajectory determination result for the maneuvering target is the parameter to be determined. and The physical meanings of the letters are the same, both referring to the perturbation force experienced by the maneuvering target. The meanings of the other letters in formula (11) are as described above and will not be repeated here.

[0060] As can be seen from formula (11), the orbit determination result of the maneuvering target at any observation time within the observation arc can be obtained by using the numerical integration method to perform orbit integration on the perturbation force and the motor force experienced by the maneuvering target at any observation time.

[0061] This application determines the orbit determination result and state transition matrix of the maneuvering target at the observation time by based on the perturbation force, the kinetic force, the sensitivity of the perturbation force to the initial orbit determination result, and the sensitivity of the kinetic force to the initial orbit determination result. This achieves integrated calculation of the orbit determination result of the maneuvering target at any observation time within the observation arc and the change of the orbit determination result with the observation time, providing a reliable and complete data foundation for the subsequent correction of the initial orbit determination result.

[0062] Furthermore, in some embodiments of this application, step 1032 may also include the following steps: Sub-step 21: Based on the orbit determination results of the maneuvering target at the observation time, determine the observation equation and observation residual of the maneuvering target at the observation time.

[0063] Sub-step 22: Based on the observation equations of the maneuvering target at several observation times within the observation arc, determine the correction parameters that make several observation residuals meet the preset conditions, and use the correction parameters that make several observation residuals meet the preset conditions as the target correction parameters of the initial orbit determination results.

[0064] In some embodiments of this application, the observation equation and observation residual of the maneuvering target at the observation time are determined based on the orbit determination result of the maneuvering target at the observation time.

[0065] After constructing several observation equations within the observation arc, solving them under the least squares criterion yields the target correction parameters for the initial orbit determination results. Specifically, based on the observation equations of the maneuvering target at several observation times within the observation arc, correction parameters that satisfy preset conditions for several observation residuals are determined, and these correction parameters that satisfy preset conditions are used as the target correction parameters for the initial orbit determination results. The preset condition can be the minimum sum of squares of several observation residuals.

[0066] This application determines correction parameters that satisfy preset conditions for several observation residuals based on the observation equations of the maneuvering target at several observation times within the observation arc, thereby obtaining target correction parameters. This not only integrates the observation equations at several observation times in the determination of target correction parameters, avoiding overfitting or bias caused by relying on the observation equations at a single observation time, but also determines the optimal correction parameters with the goal of satisfying preset conditions for several observation residuals, so that the corrected initial orbit determination results can achieve optimal matching with the actual orbit determination results as a whole.

[0067] Furthermore, in some embodiments of this application, sub-step 21 may also include the following steps: Sub-step 31: Obtain the actual observations of the maneuvering target at the observation time and the correction parameters of the initial orbit determination results.

[0068] Sub-step 32: Based on the orbit determination results and actual observations of the maneuvering target at the observation time, determine the observation residuals of the maneuvering target at the observation time.

[0069] Sub-step 33: Determine the observation equation for the maneuvering target at the observation time based on the observation residuals, actual observations, initial orbit determination results, state transition matrix, and correction parameters of the initial orbit determination results at the observation time.

[0070] In some embodiments of this application, the actual observations of the maneuvering target at the observation time and the correction parameters of the initial orbit determination results are obtained. Based on the orbit determination results and actual observations of the maneuvering target at the observation time, the observation residuals of the maneuvering target at the observation time are calculated.

[0071] Based on the observation residuals, actual observations, initial orbit determination results, state transition matrix, and correction parameters of the initial orbit determination results of the maneuvering target at the observation time, the observation equation of the maneuvering target at the observation time is established, as shown in formula (12).

[0072] Formula (12) in, The observation residuals of the maneuvering target at the observation time. and The physical meanings are the same; both refer to the actual observations of the maneuvering target at the observation time. This is the initial orbit determination result. For the maneuvering target at the initial moment Up to the observation time (i.e., the integration time) The state transition matrix, These are the correction parameters for the initial orbit determination results.

[0073] This application determines the observation equation of the maneuvering target at the observation time by using the observation residuals, actual observations, initial orbit determination results, state transition matrix, and correction parameters of the initial orbit determination results at the observation time. It establishes the mathematical relationship between the correction parameters of the initial orbit determination results and the observation residuals, and fully constructs the observation equation at the observation time, providing a mathematical basis for subsequently determining the optimal correction parameters through the observation equations at several observation times.

[0074] Furthermore, in some embodiments of this application, sub-step 32 may further include the following steps: Sub-step 41: Based on the orbit determination results of the maneuvering target at the observation time, determine the reference observations of the maneuvering target at the observation time.

[0075] Sub-step 42: Based on the reference observations and actual observations of the maneuvering target at the observation time, determine the observation residuals of the maneuvering target at the observation time.

[0076] In some embodiments of this application, the reference observations of the maneuvering target at the observation time are calculated based on the trajectory determination results of the maneuvering target at the observation time. By substituting the reference observations and actual observations of the maneuvering target at the observation time into formula (13), the observation residuals of the maneuvering target at the observation time can be calculated.

[0077] Formula (13) in, The observation residuals of the maneuvering target at the observation time. For the actual observations of the maneuvering target at the observation time, The reference observations for the maneuvering target at the observation time.

[0078] This application determines the observation residual of the maneuvering target at the observation time by using the reference observation and the actual observation at the observation time. It quantifies the degree of deviation between the orbit determination result of the maneuvering target at the current observation time and the actual observation, and directly reflects the accuracy of the orbit determination result.

[0079] Corresponding to the method provided in the above-described embodiment of the short-arc dual-pulse orbit determination method for continuous common-view observation of maneuvering targets in this application, see [link to relevant documentation]. Figure 3 This application also provides a block diagram of a short-arc dual-pulse orbit determination device for continuous common-view observation of maneuvering targets. In this embodiment, the device includes: The data acquisition module 301 is used to acquire a continuous common-view observation sequence of a maneuvering target, wherein the continuous common-view observation sequence includes observation data corresponding to several observation times, and the observation data at each observation time includes the angle and distance of the maneuvering target; The observation arc segment division module 302 is used to divide a continuous co-view observation sequence into several observation arc segments according to a preset observation duration; The orbit determination result determination module 303 is used to determine the target orbit determination result of the maneuvering target at the end of each observation arc in the continuous common-view observation sequence according to the order of several observation arcs in the continuous common-view observation sequence, based on the initial orbit determination result of the maneuvering target at the start time of the observation arc and the perturbation force and kinetic force experienced by the maneuvering target at any observation time within the observation arc. Among them, the initial orbit determination result of the maneuvering target at the start time of the first ranked observation arc in the continuous common-view observation sequence is determined based on the observation data at the start time of the first ranked observation arc, and the initial orbit determination result of the maneuvering target at the start time of the second and subsequent ranked observation arcs in the continuous common-view observation sequence is the target orbit determination result of the maneuvering target at the end time of the observation arc of the previous time sequence.

[0080] Optionally, the orbit determination result determination module 303 includes: The orbit determination result determination submodule is used to determine the orbit determination result of the maneuvering target at any observation time for any observation arc segment, based on the initial orbit determination result of the maneuvering target at the start time of the observation arc segment and the perturbation and kinetic forces acting on the maneuvering target at the observation time. The target correction parameter determination submodule is used to determine the target correction parameters of the initial orbit determination result based on the orbit determination result of the maneuvering target at the observation time. The orbit determination result correction submodule is used to correct the initial orbit determination result based on the target correction parameters of the initial orbit determination result, so as to obtain the target orbit determination result of the maneuvering target at the end of the observation arc.

[0081] Optionally, the orbit determination result determination submodule includes: The first partial derivative calculation unit is used to determine the sensitivity of the perturbation force to the initial orbit determination result based on the perturbation force experienced by the maneuvering target at the observation time and the initial orbit determination result of the maneuvering target at the start time of the observation arc. The second partial derivative calculation unit is used to determine the sensitivity of the maneuvering force to the initial orbit determination result based on the maneuvering force experienced by the maneuvering target at the observation time and the initial orbit determination result of the maneuvering target at the start of the observation arc. The orbit determination result calculation unit is used to determine the orbit determination result and state transition matrix of the maneuvering target at the observation time based on the perturbation force, the maneuvering force, the sensitivity of the perturbation force to the initial orbit determination result, and the sensitivity of the maneuvering force to the initial orbit determination result. The state transition matrix is ​​a matrix used to describe the change of the orbit determination result from the start time of the observation arc to the observation time.

[0082] Optionally, the target correction parameter determination submodule includes: The observation equation construction unit is used to determine the observation equation and observation residual of the maneuvering target at the observation time based on the trajectory determination results of the maneuvering target at the observation time. The target correction parameter determination unit is used to determine the correction parameters that satisfy the preset conditions for several observation residuals based on the observation equations of the maneuvering target at several observation times within the observation arc, and to use the correction parameters that satisfy the preset conditions for several observation residuals as the target correction parameters for the initial orbit determination results.

[0083] Optionally, the observation equation building units include: The data acquisition subunit is used to acquire the actual observations of the maneuvering target at the observation time and the correction parameters of the initial orbit determination results; The observation residual calculation subunit is used to determine the observation residual of the maneuvering target at the observation time based on the orbit determination results and actual observations of the maneuvering target at the observation time. The observation equation construction sub-unit is used to determine the observation equation of the maneuvering target at the observation time based on the observation residuals, actual observations, initial orbit determination results, state transition matrix, and correction parameters of the initial orbit determination results at the observation time.

[0084] Optionally, the observation residual calculation subunit includes: The reference observation calculation node is used to determine the reference observation of the maneuvering target at the observation time based on the trajectory determination result of the maneuvering target at the observation time. The observation residual calculation node is used to determine the observation residual of the maneuvering target at the observation time based on the reference observation and the actual observation at the observation time.

[0085] Optionally, there are two observation times within a plurality of observation times in each observation arc segment, and the maneuvering target is subjected to maneuvering force at each of the two observation times.

[0086] Figure 4 This is a structural diagram of an electronic device M00 provided in an embodiment of this application. In the diagram, the electronic device M00 includes a processor M01 and a memory M02. The memory M02 stores a program or instructions that can run on the processor M01. When the program or instructions are executed by the processor M01, they implement the various steps of the above-described embodiment of the short-arc dual-pulse orbit determination method for continuous common-view observation of maneuvering targets, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0087] In embodiments of this application, the memory M02 can be used to store software programs and various data. The memory M02 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, applications or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory M02 may include volatile memory or non-volatile memory, or both. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory M02 in the embodiments of this application includes, but is not limited to, these and any other suitable types of memory.

[0088] The processor M01 may include one or more processing units; optionally, the processor M01 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into the processor M01.

[0089] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described embodiment of the short-arc dual-pulse orbit determination method for continuous common-view observation of maneuvering targets, and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0090] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0091] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above-described embodiment of the short-arc dual-pulse orbit determination method for continuous common-view observation of maneuvering targets, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0092] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0093] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0094] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0095] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A short-arc double-pulse orbit determination method for continuously co-observing maneuvering targets, characterized in that, The method includes: A continuous common-view observation sequence of a maneuvering target is obtained, wherein the continuous common-view observation sequence includes observation data corresponding to several observation times, and the observation data at each observation time includes the angle and distance of the maneuvering target; The continuous common-view observation sequence is divided into several observation arcs according to the preset observation duration; According to the order of the observation arcs in the continuous common-view observation sequence, based on the initial orbit determination results of the maneuvering target at the start time of the observation arc and the perturbation and maneuvering forces experienced by the maneuvering target at any observation time within the observation arc, the target orbit determination results of the maneuvering target at the end time of each observation arc in the continuous common-view observation sequence are determined sequentially; wherein, the initial orbit determination result of the maneuvering target at the start time of the first ranked observation arc in the continuous common-view observation sequence is determined based on the observation data at the start time of the first ranked observation arc, and the initial orbit determination results of the maneuvering target at the start time of the second and subsequent ranked observation arcs in the continuous common-view observation sequence are the target orbit determination results of the maneuvering target at the end time of the observation arc of the previous time sequence.

2. The method according to claim 1, characterized in that, The step of determining the target trajectory determination result of the maneuvering target at the end time of each observation arc in the continuous common-view observation sequence, based on the initial trajectory determination result of the maneuvering target at the start time of the observation arc and the perturbation force and kinetic force experienced by the maneuvering target at any observation time within the observation arc, includes: For any observation time of any observation arc segment, the trajectory determination result of the maneuvering target at the observation time is determined based on the initial trajectory determination result of the maneuvering target at the start time of the observation arc segment and the perturbation force and kinetic force experienced by the maneuvering target at the observation time. Based on the orbit determination results of the maneuvering target at the observation time, determine the target correction parameters of the initial orbit determination results; The initial orbit determination result is corrected based on the target correction parameters of the initial orbit determination result to obtain the target orbit determination result of the maneuvering target at the end of the observation arc.

3. The method according to claim 2, characterized in that, The step of determining the orbit determination result of the maneuvering target at the observation time based on the initial orbit determination result of the maneuvering target at the start time of the observation arc and the perturbation force and kinetic force acting on the maneuvering target at the observation time includes: Based on the perturbation force experienced by the maneuvering target at the observation time and the initial orbit determination result of the maneuvering target at the start time of the observation arc, the sensitivity of the perturbation force relative to the initial orbit determination result is determined. Based on the maneuvering force experienced by the maneuvering target at the observation time and the initial orbit determination result of the maneuvering target at the start time of the observation arc, the sensitivity of the maneuvering force relative to the initial orbit determination result is determined. Based on the perturbation force, the maneuvering force, the sensitivity of the perturbation force to the initial orbit determination result, and the sensitivity of the maneuvering force to the initial orbit determination result, the orbit determination result and state transition matrix of the maneuvering target at the observation time are determined, wherein the state transition matrix is ​​a matrix used to describe the change of the orbit determination result from the start time of the observation arc to the observation time.

4. The method according to claim 3, characterized in that, The process of determining the target correction parameters for the initial orbit determination result based on the orbit determination result of the maneuvering target at the observation time includes: Based on the orbit determination results of the maneuvering target at the observation time, the observation equation and observation residual of the maneuvering target at the observation time are determined respectively. Based on the observation equations of the maneuvering target at several observation times within the observation arc, correction parameters are determined to make several observation residuals satisfy preset conditions, and these correction parameters are used as target correction parameters for the initial orbit determination results.

5. The method according to claim 4, characterized in that, The step of determining the observation equation of the maneuvering target at the observation time based on the orbit determination result of the maneuvering target at the observation time includes: Obtain the actual observations of the maneuvering target at the observation time and the correction parameters of the initial orbit determination result; Based on the orbit determination results of the maneuvering target at the observation time and the actual observations, determine the observation residuals of the maneuvering target at the observation time; The observation equation for the maneuvering target at the observation time is determined based on the observation residual of the maneuvering target at the observation time, the actual observation, the initial orbit determination result, the state transition matrix, and the correction parameters of the initial orbit determination result.

6. The method according to claim 5, characterized in that, The step of determining the observation residual of the maneuvering target at the observation time based on the orbit determination result of the maneuvering target at the observation time and the actual observations includes: Based on the orbit determination results of the maneuvering target at the observation time, determine the reference observations of the maneuvering target at the observation time; Based on the reference and actual observations of the maneuvering target at the observation time, the observation residual of the maneuvering target at the observation time is determined.

7. The method according to claim 1, characterized in that, Within each observation arc segment, there are two observation times, at which the maneuvering target is subjected to maneuvering force respectively.

8. A short-arc dual-pulse orbit determination device for continuous common-view observation of maneuvering targets, characterized in that, The short-arc dual-pulse orbit determination device for continuous common-view observation of maneuvering targets includes: The data acquisition module is used to acquire a continuous common-view observation sequence of a maneuvering target, wherein the continuous common-view observation sequence includes observation data corresponding to several observation times, and the observation data at each observation time includes the angle and distance of the maneuvering target; The observation arc segment division module is used to divide the continuous co-view observation sequence into several observation arc segments according to a preset observation duration; The orbit determination result module is used to determine the target orbit determination result of the maneuvering target at the end of each observation arc in the continuous common-view observation sequence according to the order of the several observation arcs in the continuous common-view observation sequence, based on the initial orbit determination result of the maneuvering target at the start time of the observation arc in the pre-acquired initial orbit determination result and the perturbation force and kinetic force experienced by the maneuvering target at any observation time within the observation arc in the observation arc; wherein, the initial orbit determination result of the maneuvering target at the start time of the first ranked observation arc in the continuous common-view observation sequence is determined based on the observation data at the start time of the first ranked observation arc, and the initial orbit determination result of the maneuvering target at the start time of the second and subsequent ranked observation arcs in the continuous common-view observation sequence is the target orbit determination result of the maneuvering target at the end time of the observation arc in the previous time sequence.

9. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the short-arc double-pulse orbit determination method for continuous common-view observation of a maneuvering target as described in any one of claims 1-7.

10. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the short-arc dual-pulse orbit determination method for continuous common-view observation of maneuvering targets as described in any one of claims 1-7.

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