Data processing method for earth-moon target

Abstract

The application provides a data processing method for a geolunar target, and the method comprises the following steps: acquiring first angle data of the geolunar target, and determining an observation vector according to the first angle data; constructing an earth-centered coordinate system and a moon-centered coordinate system, and respectively acquiring initial semi-major axes of the geolunar target in the earth-centered coordinate system and the moon-centered coordinate system; finally obtaining first position and velocity data and second position and velocity data based on the observation vector and the initial semi-major axes, respectively determining error index values of the first position and velocity data and the second position and velocity data, and determining target position and velocity data according to the error index values; and outputting an orbit determination result of the geolunar target according to the target position and velocity data. According to the application, the geolunar target can be orbit determined with a high success rate, and the application has high universality.

Description

Technical Field

[0001] This invention relates to the field of aerospace technology, and in particular to data processing methods, apparatus, equipment, and media for lunar targets. Background Technology

[0002] With the rapid development of aerospace technology, the Earth-Moon space has become one of the important targets of space exploration.

[0003] The Earth-Moon space is affected by the gravitational pull of the three bodies, resulting in poor orbital stability and a variety of orbital types. It is very difficult to determine the orbit of Earth-Moon targets with high precision, especially the initial orbit of non-cooperative targets (such as uncontrolled Earth-Moon space debris).

[0004] In related technologies, orbit determination of Earth-Moon targets is based on overly idealized approximate models, and the success rate and accuracy of orbit determination cannot meet the requirements. Summary of the Invention

[0005] In view of the above problems, a data processing method, apparatus, device, and medium for Earth-Moon targets are proposed to overcome or at least partially solve the above problems, including: A data processing method for Earth-Moon targets, the method comprising: Acquire the first angle data of the Earth-Moon target, and determine the observation vector based on the first angle data; Construct a geocentric coordinate system and a lunar coordinate system, and obtain the initial semi-major axis of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively; Based on the observation vector and the initial semi-major axis, the semi-major axis of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system are determined respectively. Based on the semi-major axis of the target, determine the target orbital elements of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively. The target orbital elements corresponding to the geocentric coordinate system are converted into first position and velocity data, and the target orbital elements corresponding to the lunar coordinate system are converted into second position and velocity data in the geocentric coordinate system. Determine the error indices for the first position velocity data and the second position velocity data respectively. The value is used to determine the target position and velocity data based on the error index value. Based on the target position and velocity data, the orbit determination result of the Earth-Moon target is output.

[0006] Optionally, the step of outputting the orbit determination result of the Earth-Moon target based on the target position and velocity data includes: The target position and velocity data are converted into conic section orbital elements, and the conic section orbital elements are output as the orbit determination result of the Earth-Moon target.

[0007] Optionally, the first position velocity data and the second position velocity data correspond to the same initial time. The step of determining the error index values ​​of the first position velocity data and the second position velocity data respectively, and determining the target position velocity data based on the error index values, includes: Based on the first position velocity data and the second position velocity data, the third position velocity data of the Earth-Moon target at multiple times after the initial time is predicted, and the second angle data is determined based on the third position velocity data; wherein each time of the second angle data corresponds to each time of the first angle data; Determine a first error index value between the second angle data obtained based on the first position velocity data and the first angle data, and determine a second error index value between the second angle data obtained based on the second position velocity data and the first angle data; Based on the comparison between the first error index value and the second error index value, the first position velocity data or the second position velocity data is determined as the target position velocity data.

[0008] Optionally, the first angle data originates from the observation equipment of the Earth-Moon target, and the step of determining the target semi-major axis of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system based on the observation vector and the initial semi-major axis includes: The first position vectors of the observation equipment in the geocentric coordinate system and the lunar coordinate system are obtained respectively; Based on the observation vector, the initial semi-major axis, and the first position vector, the target position vector of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system are determined respectively. Obtain a pre-constructed equation; wherein the equation represents the functional relationship between the position vector and the semi-major axis; The target position vector and the initial semi-major axis are input into the equation and solved iteratively to obtain the target semi-major axis.

[0009] Optionally, the target semi-major axis includes multiple components, each target semi-major axis is obtained based on first angle data at different times, and the step of determining the target orbital elements of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system according to the target semi-major axis includes: Based on the semi-major axis of each target, determine the first orbital elements of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively. Convert each first orbital element into a second orbital element corresponding to the initial time; Based on each second orbital element, predict third angle data at multiple times after the initial time; wherein each time of the third angle data corresponds to each time of the first angle data; Determine the third error index value between each third angle data point and the corresponding first angle data point; Based on the third error index value and the second orbital element number, the target orbital elements of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system are determined respectively.

[0010] Optionally, converting the target orbital elements corresponding to the lunar coordinate system into second position and velocity data in the geocentric coordinate system includes: Convert the target orbital elements corresponding to the lunar coordinate system into third position velocity data; Obtain the correspondence between the geocentric coordinate system and the lunar coordinate system regarding position and velocity; Based on the correspondence, the third position velocity data is converted into second position velocity data in the geocentric coordinate system.

[0011] Optionally, the first angle data includes right ascension angle data and declination angle data, and the step of determining the observation vector based on the first angle data includes: The observation vector is determined based on the right ascension angle data and the declination angle data.

[0012] A data processing apparatus for Earth-Moon targets, the apparatus comprising: The observation vector determination module is used to acquire the first angle data of the Earth-Moon target and determine the observation vector based on the first angle data. The initial semi-major axis acquisition module is used to construct a geocentric coordinate system and a lunar coordinate system, and to acquire the initial semi-major axis of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively; The target semi-major axis determination module is used to determine the target semi-major axis of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively, based on the observation vector and the initial semi-major axis. The target orbit element determination module is used to determine the target orbit elements of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively, based on the semi-major axis of the target. The position and velocity data processing module is used to convert the target orbital elements corresponding to the geocentric coordinate system into first position and velocity data, and to convert the target orbital elements corresponding to the lunar coordinate system into second position and velocity data in the geocentric coordinate system. The target position velocity data determination module is used to determine the error index values ​​of the first position velocity data and the second position velocity data respectively, and determine the target position velocity data based on the error index values; The orbit determination result output module is used to output the orbit determination result of the Earth-Moon target based on the target position and velocity data.

[0013] An electronic device includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the data processing method for the Earth-Moon target as described above.

[0014] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the data processing method for the Earth-Moon target as described above.

[0015] The embodiments of this invention have the following advantages: By constructing a geocentric coordinate system and a lunar coordinate system, the observation vector is determined based on the first angle data. The corresponding target semi-major axis is determined by combining the initial semi-major axis in the two coordinate systems. Finally, the first position velocity data and the second position velocity data of the Earth-Moon target in the same geocentric coordinate system are determined respectively. This realizes the transformation of the complex three-body problem of the Earth-Moon target into multiple independent two-body problems under multiple gravitational centers (i.e., with the Earth's center and the Moon's center as the gravitational centers respectively), simplifying data processing and improving the success rate of orbit determination. Then, the target position velocity data is determined by the corresponding error index value, and the orbit determination result of the Earth-Moon target is output according to the target position velocity data. Compared with the orbit determination method using an idealized model in related technologies, the orbit determination accuracy is higher and can meet the orbit determination requirements of short-arc initial orbits of most targets in Earth-Moon space (especially non-cooperative targets). Moreover, only the first angle data of optical observation is needed to achieve the orbit determination of the Earth-Moon target, which has universality. Attached Figure Description

[0016] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart of the steps of a data processing method for Earth-Moon targets provided in an embodiment of the present invention; Figure 2 This is a structural block diagram of a data processing device for Earth-Moon targets provided in an embodiment of the present invention. Detailed Implementation

[0018] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0019] The Earth-Moon space is a new domain that significantly expands the scope of human activity and serves as a gateway to deep space exploration. It possesses invaluable resources such as environment, orbits, and materials, making its development and utilization a strategic high ground that major spacefaring nations compete for. With the rapid development of space technology, an increasing number of lunar spacecraft are being launched into orbit. Multi-dimensional monitoring of spacecraft movements and the distribution of rocket debris is crucial for establishing a situational awareness of the Earth-Moon space, implementing space traffic management, and safely utilizing its resources. Due to the vast distance between the Earth and Moon—more than ten times that of near-Earth space—optical surveillance remains the primary means of monitoring debris in the Earth-Moon space. Optical surveillance equipment only provides angular measurement data (i.e., observational data of angles), and the Earth-Moon space is affected by the gravitational pull of three bodies, resulting in poor orbital stability and diverse orbital types, making high-precision orbit determination very difficult, especially for effectively determining the initial orbits of non-cooperative targets.

[0020] While orbit determination for short-arc initial orbits of non-cooperative targets is primarily used for subsequent orbit association and prioritizes orbit determination success rate, certain requirements are also placed on orbit determination accuracy.

[0021] In related technologies, the algorithm for determining the initial orbit of a non-cooperative near-Earth orbit target is developed based on the assumptions of a geocentric system and an elliptical orbit. This overly idealized model has a low success rate and accuracy in orbit determination, and cannot meet the requirements for determining the initial orbit of a short arc under the three-body problem of Earth-Moon space debris.

[0022] Based on this, in response to the need for short-arc orbit determination using angular measurement data of Earth-Moon space debris, this invention provides a data processing method for Earth-Moon targets that is adaptable to integrated, high-success-rate, and high-precision short-arc orbit determination in both near-Earth and Earth-Moon space, which is of great significance for the autonomous cataloging and management of Earth-Moon space debris.

[0023] Reference Figure 1 The diagram illustrates a flowchart of a data processing method for Earth-Moon targets according to an embodiment of the present invention, which may specifically include the following steps: Step 101: Obtain the first angle data of the Earth-Moon target, and determine the observation vector based on the first angle data; In practice, the first angle data can be obtained through optical observation of the Earth-Moon target using observation equipment. The observation vector refers to the vector pointing from the observation equipment to the Earth-Moon target. The observation vector can be calculated from the first angle data using a pre-built algorithm or functional relationship.

[0024] In some embodiments of the present invention, the first angle data includes right ascension angle data and declination angle data, and the step of determining the observation vector based on the first angle data includes: The observation vector is determined based on the right ascension angle data and the declination angle data.

[0025] In practice, right ascension angle data is obtained by observing the longitude of the celestial equator, while declination angle data is obtained by observing the latitude of the celestial equator.

[0026] In some examples, the right ascension angle data includes Right ascension observation at time and Right ascension observation at time Declination angle data includes Declination observation at time and Declination observation at time Then the observed vector can be calculated using the following equation (1): (1) in, for The observation vector at time, for The observation vector at time.

[0027] Step 102: Construct a geocentric coordinate system and a lunar coordinate system, and obtain the initial semi-major axis of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively; In practical implementation, the geocentric coordinate system refers to a coordinate system established with the Earth's center as the origin, while the lunar coordinate system refers to a coordinate system established with the Moon's center as the origin. The initial semi-major axis can be the semi-major axis of the estimated, preset, or predicted orbits of the Earth-Moon target (based on the geocentric coordinate system and the lunar coordinate system, respectively), used as the initial value.

[0028] In practical applications, the geocentric coordinate system can be the geocentric J2000 inertial coordinate system, and the lunar coordinate system can be the lunar J2000 inertial coordinate system, so as to unify the initial time of the two coordinate systems to the same epoch (J2000).

[0029] Step 103: Based on the observation vector and the initial semi-major axis, determine the semi-major axis of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively; In practice, the observed vector and the initial semi-major axis can be used as inputs, and the initial semi-major axis can be iteratively calculated using a preset algorithm model to obtain a more accurate target semi-major axis.

[0030] In some embodiments of the present invention, the first angle data originates from the observation equipment of the Earth-Moon target, and the step of determining the target semi-major axis of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system respectively based on the observation vector and the initial semi-major axis includes: The first position vectors of the observation equipment in the geocentric coordinate system and the lunar coordinate system are obtained respectively; Based on the observation vector, the initial semi-major axis, and the first position vector, the target position vector of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system are determined respectively. Obtain a pre-constructed equation; wherein the equation represents the functional relationship between the position vector and the semi-major axis; The target position vector and the initial semi-major axis are input into the equation and solved iteratively to obtain the target semi-major axis.

[0031] In practical implementation, the first position vector refers to the position vector obtained by the observation equipment in the geocentric and lunar coordinate system with the geocentric and lunar centers as the origin, reflecting the specific position of the observation equipment.

[0032] Specifically, the observation equipment is set at The first position vector in the geocentric J2000 inertial coordinate system at time t. and velocity vector The first position vector in the lunar center J2000 inertial coordinate system and velocity vector Then the following relationship exists as shown in equation (2): (2) in, , It can be obtained through observation. and They are respectively The position and velocity vectors of the Moon in the Earth-centered J2000 inertial coordinate system at any given time can be directly calculated from the ephemeris published by relevant observation institutions (such as JPL, Jet Propulsion Laboratory).

[0033] Obtain the initial time After obtaining the first position vector, the first position vector at any time after the initial time can be calculated. Then, through the transformation relationship of equation (2), the first position vector in the geocentric coordinate system at any time can be converted into the first position vector in the lunar coordinate system. In this way, the position of the observation device at... The first position vector corresponding to the geocentric coordinate system at that moment The first position vector corresponding to the lunar coordinate system and in The first position corresponding to the geocentric coordinate system at any given time Vector, the first position vector corresponding to the lunar coordinate system .

[0034] Combined with observation vector , Then the target position vector of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system can be obtained by equation (3): (3) in, The 2-norm of a vector. These represent the geocentric coordinate system and the lunar coordinate system, respectively (the same applies below, and will not be elaborated further). For the Earth-Moon target At all times in the geocentric coordinate system ( i = E ), Lunar coordinate system ( i=M The target position vector under ) For the Earth-Moon target At all times in the geocentric coordinate system ( i=E ), Lunar coordinate system ( i=M The target position vector under ().

[0035] Obtain the pre-constructed equation, as shown in equation (4): (4) in, Given the gravitational constant of the Earth or the Moon, the initial semi-major axis... Target position vector , As the initial input, the convergence condition is set, and Newton iteration is performed in combination with equation (4) to obtain the semi-major axis of the target with higher accuracy (including the Earth-Moon target). (The semi-major axis of the target in the geocentric coordinate system and the lunar coordinate system at all times).

[0036] In some examples, in each iteration, the semi-major axis calculated in the previous iteration can be used. (The first iteration is the initial semi-major axis) Substitute into equation (3) to obtain the new target position vector. , Then adopt , , The results of this iteration are calculated. until the conditions regarding The convergence condition.

[0037] Step 104: Determine the target orbital elements of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively, based on the semi-major axis of the target. In practical implementation, the target orbital elements can be the Keplerian six elements, namely... .in For the semi-major axis, For eccentricity, For the track inclination angle, Right ascension of the ascending node, Perimeter argument This refers to the plan anomaly angle of an ellipse or the true anomaly angle of a parabola or hyperbola. Based on the semi-major axis of the target and combined with algorithms for the two-body problem, the orbital elements of the Earth-Moon target in both the geocentric and lunar coordinate systems can be directly calculated.

[0038] In some examples, the obtained semi-major axis of the target can be substituted into equation (3) to calculate the target position vector of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, and then the target orbital elements can be calculated based on the target position vector.

[0039] In some embodiments of the present invention, the target semi-major axis includes multiple components, each target semi-major axis is obtained based on first angle data at different times, and the step of determining the target orbital elements of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system according to the target semi-major axis includes: Based on the semi-major axis of each target, determine the first orbital elements of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively. Convert each first orbital element into a second orbital element corresponding to the initial time; Based on each second orbital element, predict third angle data at multiple times after the initial time; wherein each time of the third angle data corresponds to each time of the first angle data; Determine the third error index value between each third angle data point and the corresponding first angle data point; Based on the third error index value and the second orbital element number, the target orbital elements of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system are determined respectively.

[0040] In practice, the first angle data of the Earth-Moon target at different times can be obtained from the observation equipment at each moment. These first angle data are then randomly combined into multiple data sets, each data set including the first angle data corresponding to two moments. For each different data set, the corresponding observation vector is determined, and then the corresponding target semi-major axis is determined based on the observation vector and the initial semi-major axis. Finally, the corresponding first orbital elements are determined based on the target semi-major axis.

[0041] Furthermore, the first orbital elements calculated for each set of data are converted into the second orbital elements at the same initial time, for example, by normalizing them to the same epoch (such as J2000).

[0042] For each second orbital element, predict the third angle data at multiple times after the initial time. For example, you can first predict the orbital element at each time and then calculate the third angle data based on the orbital element.

[0043] Furthermore, a third error index value is determined for each third-angle data point and its corresponding first-angle data. The third error index value reflects the prediction accuracy of each data set; the smaller the third error index value, the more accurate the data. After obtaining the third error index value for each data set, the second orbital element obtained from the data set with the smallest third error index value is determined as the target orbital element.

[0044] In some examples, different first-angle data are randomly combined into M sets of data, where the m-th set of data includes... Time and The first angle data at each moment is then used to calculate... Observation vector at time and Observation vector Then adopt , And the initial semi-major axes of the geocentric and lunar coordinate systems were used to calculate the Earth-Moon target. The semi-major axis of the target, which is constantly in the geocentric and lunar coordinate systems, is then used to calculate... The first orbital elements at each time point. The same process is applied to other groups to obtain the first orbital elements of the Earth-Moon object at multiple different times.

[0045] Normalize the first orbital element at each time step to the same initial time step. We obtain the second orbital roots corresponding to the M sets of data: Using the number of elements in each second orbital, predict... Multiple third-angle data points after a given time point, with each third-angle data point corresponding to the time point of the first-angle data point. That is, the first-angle data point has n time points, and the prediction is made for n third-angle data points that correspond one-to-one with the first-angle data point.

[0046] Calculate the third error index value between the third angle data (predicted value) and the first angle data (actual value), which can specifically be the residual value.

[0047] Specifically, the residual values ​​of the third angle data and the first angle data at the same time can be calculated separately. Then, based on the residual values ​​at each time, the overall residual value can be determined by summing or averaging to obtain the third error index value, which reflects the accuracy of the second orbital elements obtained from each set of data.

[0048] Based on each second orbital root and its corresponding third error index value, the second orbital root with the smallest third error index value is determined as the target orbital root, thus obtaining the target orbital roots of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system. .

[0049] In this embodiment, based on the first angle data at different times as different data samples, multiple different target semi-major axes are calculated, and then multiple first orbital elements at different times are calculated. These are converted into second orbital elements at the same initial time to unify the measurement standard. The target orbital elements are determined in an optimal manner using the second orbital elements and the corresponding third error index, which can further improve the accuracy of orbit determination of the Earth-Moon target.

[0050] Step 105: Convert the target orbital elements corresponding to the geocentric coordinate system into first position and velocity data, and convert the target orbital elements corresponding to the lunar coordinate system into second position and velocity data in the geocentric coordinate system. In practical implementation, for the two target orbital elements obtained, one needs to be selected as the final orbit determination result. Therefore, it is necessary to unify the calculation of position and velocity data in the geocentric coordinate system and determine the error index value. The first and second position and velocity data can both include the position and velocity vectors of the Earth-Moon target.

[0051] In some examples, the orbital elements of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system are: ,in The semi-major axis of an ellipse, hyperbola, or parabola is represented by e, eccentricity by I, orbital inclination by Ω, right ascension of the ascending node by w, and angle of perigee by M. Position and velocity data include the position vector. and velocity vector ,but , It can be calculated in the following ways: Calculate the partial anterior angle E of an ellipse or the true anterior angle E of a parabola or hyperbola, when Then utilize Iteratively solve for E; otherwise, E = m. Calculate the P matrix and Q matrix: (5) (6) when hour: (7) when hour: (8) when hour: (9) The target orbital elements obtained based on the geocentric coordinate system , The first position and velocity data of the Earth-Moon target in the geocentric coordinate system requires no further transformation; while the data obtained from the target's orbital elements in the lunar coordinate system... , Then it is necessary to convert to the geocentric coordinate system to obtain the second position velocity data.

[0052] In some embodiments of the present invention, converting the target orbital elements corresponding to the lunar coordinate system into second position and velocity data in the geocentric coordinate system includes: Convert the target orbital elements corresponding to the lunar coordinate system into third position velocity data; Obtain the correspondence between the geocentric coordinate system and the lunar coordinate system regarding position and velocity; Based on the correspondence, the third position velocity data is converted into second position velocity data in the geocentric coordinate system.

[0053] In some examples, the target orbital elements corresponding to the lunar coordinate system are obtained. Then, the third position velocity data, i.e., the position vector of the Earth-Moon target in the lunar coordinate system, can be obtained by calculation using equations (5) to (9). Velocity vector .

[0054] Furthermore, based on the correspondence between the geocentric coordinate system and the lunar coordinate system regarding position and velocity as shown in Equation (2), the third position and velocity data is converted into the second position and velocity data in the geocentric coordinate system.

[0055] Step 106: Determine the error index values ​​of the first position velocity data and the second position velocity data respectively, and determine the target position velocity data based on the error index values; In the specific implementation, the first position velocity data is obtained based on the Earth's center of gravity, and the second position velocity data is obtained based on the Moon's center of gravity and then transformed to the Earth's coordinate system. The corresponding error index values ​​reflect the accuracy of the data. Therefore, the one with the smaller error index value can be selected as the target position velocity data from the first position velocity data and the second position velocity data.

[0056] In some embodiments of the present invention, the first position velocity data and the second position velocity data correspond to the same initial time. The step of determining error index values ​​for the first position velocity data and the second position velocity data respectively, and determining the target position velocity data based on the error index values, includes: Based on the first position velocity data and the second position velocity data, the third position velocity data of the Earth-Moon target at multiple times after the initial time is predicted, and the second angle data is determined based on the third position velocity data; wherein each time of the second angle data corresponds to each time of the first angle data; Determine a first error index value between the second angle data obtained based on the first position velocity data and the first angle data, and determine a second error index value between the second angle data obtained based on the second position velocity data and the first angle data; Based on the comparison between the first error index value and the second error index value, the first position velocity data or the second position velocity data is determined as the target position velocity data.

[0057] In the specific implementation, the first position velocity data and the second position velocity data correspond to the same geocentric coordinate system and the same initial time (e.g., J2000 epoch time). Then, based on the first position velocity data and the second position velocity data, the third position velocity data at multiple times after the initial time is predicted, and the second angle data is determined based on the third position velocity data. The time of each second angle data point corresponds one-to-one with the time of the first angle data point.

[0058] A first error index value is calculated between the second angle data (predicted based on the Earth's gravitational center) obtained from the first position velocity data and the first angle data (actual observation value). The first error index value reflects the accuracy of the first position velocity data. A second error index value is also calculated between the second angle data (predicted based on the lunar center of gravity) obtained from the second position velocity data and the first angle data (actual observation value). The second error index value reflects the accuracy of the second position velocity data. Specifically, the first and second error index values ​​can be residual values.

[0059] Finally, the first error index value and the second error index value are compared. If the first error index value is less than the second error index value, the first position velocity data is determined as the target velocity data; if the first error index value is greater than the second error index value, the second position velocity data is determined as the target velocity data.

[0060] Step 107: Based on the target position and velocity data, output the orbit determination result of the Earth-Moon target.

[0061] In practice, the target position and velocity data can be directly output as the orbit determination result of the Earth-Moon target, or the target position and velocity data can be converted into orbital elements and output as the orbit determination result of the Earth-Moon target to more accurately describe the orbit of the Earth-Moon target.

[0062] In practical applications, orbit determination results can characterize the orbit determination results of the initial short arc orbit of the Earth-Moon target.

[0063] In some embodiments of the present invention, the step of outputting the orbit determination result of the Earth-Moon target based on the target position and velocity data includes: The target position and velocity data are converted into conic section orbital elements, and the conic section orbital elements are output as the orbit determination result of the Earth-Moon target.

[0064] In the specific implementation, the target position and velocity data are converted into conic section orbital elements and output as the orbit determination result, so that the orbit determination result has universality and versatility, and realizes a unified standard for the Earth-Moon space orbit determination coordinate system and the orbital parameter description method.

[0065] In some examples, the target position and velocity data includes a position vector. and velocity vector Conic section orbital elements ,in This represents the semi-major axis of an ellipse, hyperbola, or the semi-broad diameter of a parabola. Indicates the eccentricity. Ω represents the orbital inclination, and Ω represents the right ascension of the ascending node. Indicates the angle of perigee. Let represent the plan anterior angle of an ellipse or the true anterior angle of a parabola or hyperbola. The calculation method is as follows: Will Represented as a 3-parameter scalar, i.e. ; to the velocity vector Also expressed as ; Calculate vector ,in This indicates the cross product, and the same applies below; Calculate vector ; Eccentricity ; track inclination ; Right ascension of ascending node ; Perimeter Angle ; parameter ,parameter ; when hour: , (10) when hour: (11) (12) when hour: , (13) By following the steps above, the orbital elements of ellipses, parabolas, hyperbolas, and other conic sections can be calculated from the position and velocity in the geocentric inertial frame, thus achieving a unified standard for the Earth-Moon space orbit determination coordinate system and a method for describing orbital parameters.

[0066] In some embodiments of the present invention, a near-Earth sun-synchronous orbit space-based optical monitoring platform is used to simulate observations of Earth-Moon targets at orbital altitudes of 2000 km and 7000 km, and at the Halo orbit of the Earth-Moon Lagrange L2 point. The simulation includes three observation arc segments, each approximately 25 minutes long, with right ascension and declination observation accuracy of approximately 2 arcseconds. The orbit determination results (orbital elements) and orbit determination errors obtained using the Earth-Moon target data processing method provided by the present invention are shown in Table 1. Table 1

[0067] It is evident that effective short-arc orbit determination results can be obtained for non-cooperative targets in different regions of the Earth-Moon space. The conic section orbital elements can be uniformly described in the geocentric inertial coordinate system, which is suitable for various conic section orbits such as ellipses, parabolas, and hyperbolas with large eccentricity. The orbit determination success rate is high, and the position and velocity errors are controlled within a certain range. This provides important support for the initial orbit determination and orbit cataloging of debris in the Earth-Moon space, and its application prospects are obvious.

[0068] The embodiments of this invention have the following advantages: By constructing a geocentric coordinate system and a lunar coordinate system, the observation vector is determined based on the first angle data. The corresponding target semi-major axis is determined by combining the initial semi-major axis in the two coordinate systems. Finally, the first position velocity data and the second position velocity data of the Earth-Moon target in the same geocentric coordinate system are determined respectively. This realizes the transformation of the complex three-body problem of the Earth-Moon target into multiple independent two-body problems under multiple gravitational centers (i.e., with the Earth's center and the Moon's center as the gravitational centers respectively), simplifying data processing and improving the success rate of orbit determination. Then, the target position velocity data is determined by the corresponding error index value, and the orbit determination result of the Earth-Moon target is output according to the target position velocity data. Compared with the orbit determination method using an idealized model in related technologies, the orbit determination accuracy is higher and can meet the orbit determination requirements of short-arc initial orbits of most targets in Earth-Moon space (especially non-cooperative targets). Moreover, only the first angle data of optical observation is needed to achieve the orbit determination of the Earth-Moon target, which has universality.

[0069] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0070] Reference Figure 2 The diagram shows a structural schematic of a data processing device for Earth-Moon targets according to an embodiment of the present invention, which may specifically include the following modules: The observation vector determination module 201 is used to acquire the first angle data of the Earth-Moon target and determine the observation vector based on the first angle data; The initial semi-major axis acquisition module 202 is used to construct a geocentric coordinate system and a lunar coordinate system, and to acquire the initial semi-major axis of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively; The target semi-major axis determination module 203 is used to determine the target semi-major axis of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively, based on the observation vector and the initial semi-major axis. The target orbit element determination module 204 is used to determine the target orbit elements of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively, based on the semi-major axis of the target. The position and velocity data processing module 205 is used to convert the target orbital elements corresponding to the geocentric coordinate system into first position and velocity data, and to convert the target orbital elements corresponding to the lunar coordinate system into second position and velocity data in the geocentric coordinate system. The target position velocity data determination module 206 is used to determine the error index values ​​of the first position velocity data and the second position velocity data respectively, and determine the target position velocity data based on the error index values; The orbit determination result output module 207 is used to output the orbit determination result of the Earth-Moon target based on the target position and velocity data.

[0071] In some embodiments of the present invention, the orbit determination result output module 207 includes: The orbit determination result output submodule is used to convert the target position and velocity data into conic section orbital elements and output the conic section orbital elements as the orbit determination result of the Earth-Moon target.

[0072] In some embodiments of the present invention, the first position velocity data and the second position velocity data correspond to the same initial time, and the target position velocity data determination module 206 includes: The second angle data determination submodule is used to predict the third position velocity data of the Earth-Moon target at multiple times after the initial time based on the first position velocity data and the second position velocity data, and to determine the second angle data based on the third position velocity data; wherein each time of the second angle data corresponds to each time of the first angle data; The error index value determination submodule is used to determine the first error index value between the second angle data obtained based on the first position velocity data and the first angle data, and to determine the second error index value between the second angle data obtained based on the second position velocity data and the first angle data. The target position velocity data determination submodule is used to determine the first position velocity data or the second position velocity data as the target position velocity data based on the comparison result of the first error index value and the second error index value.

[0073] In some embodiments of the present invention, the first angle data is derived from the observation equipment of the Earth-Moon target, and the target semi-major axis determination module 203 includes: The first position vector acquisition submodule is used to acquire the first position vector of the observation device in the geocentric coordinate system and the lunar coordinate system, respectively; The target position vector determination submodule is used to determine the target position vector of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively, based on the observation vector, the initial semi-major axis, and the first position vector; The equation acquisition submodule is used to acquire pre-constructed equations; wherein the equations represent the functional relationship between the position vector and the semi-major axis; The target semi-major axis determination submodule is used to input the target position vector and the initial semi-major axis into the equation for iterative solution to obtain the target semi-major axis.

[0074] In some embodiments of the present invention, the target semi-major axis includes multiple targets, each target semi-major axis is obtained based on first angle data at different times, and the target orbital element determination module 204 further includes: Based on the semi-major axis of each target, determine the first orbital elements of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively. The first orbital element determination submodule is used to convert each first orbital element into a second orbital element corresponding to the initial time. The third angle data prediction submodule is used to predict third angle data at multiple times after the initial time based on each second orbital element; wherein each time of the third angle data corresponds to each time of the first angle data. The third error index value determination submodule is used to determine the third error index value of each third angle data and the corresponding first angle data. The target orbital element determination submodule is used to determine the target orbital elements of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively, based on the third error index value and the second orbital element.

[0075] In some embodiments of the present invention, the position and velocity data processing module 205 includes: The third position velocity data conversion submodule is used to convert the target orbital elements corresponding to the lunar center coordinate system into third position velocity data. The correspondence acquisition submodule is used to acquire the correspondence between the geocentric coordinate system and the lunar coordinate system with respect to position and velocity. The second position velocity data conversion submodule is used to convert the third position velocity data into second position velocity data in the geocentric coordinate system according to the correspondence.

[0076] In some embodiments of the present invention, the first angle data includes right ascension angle data and declination angle data, and the observation vector determination module 201 includes: The observation vector determination submodule is used to determine the observation vector based on the right ascension angle data and the declination angle data.

[0077] Some embodiments of the present invention also provide an electronic device, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the data processing method for the Earth-Moon target as described above.

[0078] Some embodiments of the present invention also provide a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, it implements the data processing method for the Earth-Moon target as described above.

[0079] Some embodiments of the present invention also provide a computer program product, including a computer program that, when executed by a processor, implements the data processing method for the Earth-Moon target as described above.

[0080] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0081] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0082] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0083] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented 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.

[0084] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. 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 processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions 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.

[0085] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate 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.

[0086] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment 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.

[0087] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0088] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device 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 terminal device. 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 terminal device that includes the aforementioned element.

[0089] The above provides a detailed description of a data processing method, apparatus, device, and medium for Earth-Moon targets. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A data processing method for Earth-Moon targets, characterized in that, The method includes: Acquire the first angle data of the Earth-Moon target, and determine the observation vector based on the first angle data; Construct a geocentric coordinate system and a lunar coordinate system, and obtain the initial semi-major axis of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively; Based on the observation vector and the initial semi-major axis, the semi-major axis of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system are determined respectively. Based on the semi-major axis of the target, determine the target orbital elements of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively. The target orbital elements corresponding to the geocentric coordinate system are converted into first position and velocity data, and the target orbital elements corresponding to the lunar coordinate system are converted into second position and velocity data in the geocentric coordinate system. The error index values ​​of the first position velocity data and the second position velocity data are determined respectively, and the target position velocity data is determined based on the error index values; Based on the target position and velocity data, the orbit determination result of the Earth-Moon target is output.

2. The method according to claim 1, characterized in that, The step of outputting the orbit determination result of the Earth-Moon target based on the target position and velocity data includes: The target position and velocity data are converted into conic section orbital elements, and the conic section orbital elements are output as the orbit determination result of the Earth-Moon target.

3. The method according to claim 1, characterized in that, The first position velocity data and the second position velocity data correspond to the same initial time. The step of determining the error index values ​​of the first position velocity data and the second position velocity data respectively, and determining the target position velocity data based on the error index values, includes: Based on the first position velocity data and the second position velocity data, the third position velocity data of the Earth-Moon target at multiple times after the initial time is predicted, and the second angle data is determined based on the third position velocity data; wherein each time of the second angle data corresponds to each time of the first angle data; Determine a first error index value between the second angle data obtained based on the first position velocity data and the first angle data, and determine a second error index value between the second angle data obtained based on the second position velocity data and the first angle data; Based on the comparison between the first error index value and the second error index value, the first position velocity data or the second position velocity data is determined as the target position velocity data.

4. The method according to claim 1, characterized in that, The first angle data originates from the observation equipment of the Earth-Moon target. The step of determining the target's semi-major axis in the geocentric coordinate system and the lunar coordinate system, respectively, based on the observation vector and the initial semi-major axis, includes: The first position vectors of the observation equipment in the geocentric coordinate system and the lunar coordinate system are obtained respectively; Based on the observation vector, the initial semi-major axis, and the first position vector, the target position vector of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system are determined respectively. Obtain a pre-constructed equation; wherein the equation represents the functional relationship between the position vector and the semi-major axis; The target position vector and the initial semi-major axis are input into the equation and solved iteratively to obtain the target semi-major axis.

5. The method according to any one of claims 1-4, characterized in that, The target semi-major axis includes multiple components, each obtained based on first angle data at different times. The step of determining the target orbital elements of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system based on the target semi-major axis includes: Based on the semi-major axis of each target, determine the first orbital elements of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively. Convert each first orbital element into a second orbital element corresponding to the initial time; Based on each second orbital element, predict third angle data at multiple times after the initial time; wherein each time of the third angle data corresponds to each time of the first angle data; Determine the third error index value between each third angle data point and the corresponding first angle data point; Based on the third error index value and the second orbital element number, the target orbital elements of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system are determined respectively.

6. The method according to any one of claims 1-4, characterized in that, The step of converting the target orbital elements corresponding to the lunar coordinate system into second position and velocity data in the geocentric coordinate system includes: Convert the target orbital elements corresponding to the lunar coordinate system into third position velocity data; Obtain the correspondence between the geocentric coordinate system and the lunar coordinate system regarding position and velocity; Based on the aforementioned correspondence, the third position velocity data is converted into second position velocity data in the geocentric coordinate system.

7. The method according to claims 1-4, characterized in that, The first angle data includes right ascension angle data and declination angle data. The step of determining the observation vector based on the first angle data includes: The observation vector is determined based on the right ascension angle data and the declination angle data.

8. A data processing device for a lunar target, characterized in that, The device includes: The observation vector determination module is used to acquire the first angle data of the Earth-Moon target and determine the observation vector based on the first angle data. The initial semi-major axis acquisition module is used to construct a geocentric coordinate system and a lunar coordinate system, and to acquire the initial semi-major axis of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively; The target semi-major axis determination module is used to determine the target semi-major axis of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively, based on the observation vector and the initial semi-major axis. The target orbit element determination module is used to determine the target orbit elements of the Earth-Moon target in the geocentric coordinate system and the lunar coordinate system, respectively, based on the semi-major axis of the target. The position and velocity data processing module is used to convert the target orbital elements corresponding to the geocentric coordinate system into first position and velocity data, and to convert the target orbital elements corresponding to the lunar coordinate system into second position and velocity data in the geocentric coordinate system. The target position velocity data determination module is used to determine the error index values ​​of the first position velocity data and the second position velocity data respectively, and determine the target position velocity data based on the error index values; The orbit determination result output module is used to output the orbit determination result of the Earth-Moon target based on the target position and velocity data.

9. An electronic device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the data processing method for the Earth-Moon target as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the data processing method for the Earth-Moon target as described in any one of claims 1 to 7.

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