53 results about "Geocentric coordinates" patented technology

The invention provides a high-precision real-time multi-channel cooperative control method and system. The method comprises the following steps: establishing a conversion relation among a geodetic coordinate system, a geocentric coordinate system and a station center coordinate system; each device solves the observation data of the target into the global ECEF coordinate of the target through the conversion relation according to the geographic coordinate of the device; fusion of observation data of multiple cameras (integrated in a turntable cabin) is realized by adopting an iterative weighted least square method, and the optimal estimation of the initial position of a target is obtained; and taking the fused position as an observed quantity, inputting the observed quantity into a Kalman filter constructed based on a uniform-speed motion model, dynamically adjusting an observation noise covariance and a process noise covariance, and predicting and tracking a target motion state, thereby realizing multi-camera cooperative control.

The invention relates to the technical field of synthetic aperture radar signal processing, and discloses a satellite-borne SAR image in-orbit radiation and geometric correction method based on a parallel computing architecture, and the radiation correction method comprises the steps: obtaining ephemeris parameters of a satellite under a geocentric coordinate system at all azimuth moments; calculating a slant distance between a satellite beam center pointing scene center point and an antenna phase center at each azimuth moment and a slant distance between each sampling point and a satellite in an SAR echo distance direction at each azimuth moment; calculating satellite beam center pointing at each azimuth moment and a lower visual angle between the satellite and a sub-satellite point connecting line; calculating an antenna distance direction beam directional diagram and constructing a radiation correction function; and performing parallel correction on radiation distortion of the SAR image based on the radiation correction function. According to the method, the SAR image quality and the accurate positioning of the SAR image are effectively improved, the radiation fidelity of the SAR image is met, meanwhile, the efficiency of a data processing task is improved, and the task requirement for high real-time performance is considered.

The invention discloses a multi-view image Gaussian reconstruction method and system guided by LiDAR point cloud. The method comprises the following steps: step S1, realizing accurate registration of LiDAR point cloud and a multi-view image in the same earth-centered earth-fixed coordinate system through GNSS constrained aerial triangulation, and uniformly carrying out center-of-gravity normalization to ensure space consistency and numerical stability; s2, estimating surface normal and scale parameters based on the local geometric features of the LiDAR point cloud, constructing a Gaussian ellipsoid consistent with the local geometry, and realizing Gaussian ellipsoid initialization of geometric perception; and S3, generating a sub Gaussian ellipsoid according to the Gaussian gradient and the tangent plane direction, and improving the modeling density and geometric continuity of the detail region through local encryption and parameter inheritance. According to the method, the fusion of LiDAR point cloud high-precision geometry and multi-view image texture information is realized, the geometric precision, the structural integrity and the detail expression capability of three-dimensional reconstruction are effectively improved, and the method is particularly suitable for high-precision live-action three-dimensional modeling of unmanned aerial vehicle multi-view images.

A virtual scenario rendering method, executed by a computer device and comprises: acquiring a camera position point of a virtual camera of a virtual scenario in a geocentric coordinate system of the virtual scenario (202); determining, in the geocentric coordinate system, a projection point of the camera position point on a virtual earth surface of the virtual scenario, and taking the projection point as a coordinate origin, establishing a tangent plane coordinate system which takes a direction perpendicular to a tangent plane of the virtual earth surface at the coordinate origin as a height direction (204); acquiring reference position points in the virtual scenario, and determining a height value of each reference position point in the height direction in the tangent plane coordinate system (206); acquiring a camera height value of the virtual camera above the virtual earth surface, and adding the camera height value to the height value of each virtual reference point to obtain a rendering height parameter value of each virtual reference point (208); and in the angle of view of the virtual camera, rendering a fog effect of the virtual scenario on the basis of the rendering height parameter values (210).

The present invention discloses a method for designing inter-layer links of multi-layer constellations with enhanced service coverage capability, comprising: constructing a large-scale multi-layer satellite network spanning T time slots, and obtaining the coordinates of all satellites in the multi-layer satellite network in each time slot under geocentric coordinates; constructing an adjacency matrix of each constellation layer in the multi-layer satellite network; constructing a feasible set of satellite links between two adjacent layers in each time slot multi-layer satellite network; constructing a ground non-uniform service model based on geographic population distribution, dividing the earth's surface into multiple logical regions; calculating the weight of each time slot inter-layer link in the satellite link feasible set; establishing an inter-layer link allocation model based on the weight of the inter-layer link; optimizing the inter-layer link set in the satellite link feasible set to obtain an optimized inter-layer link set. The present invention designs a large-scale satellite network inter-layer topology by constructing inter-layer links, improves the throughput of the multi-layer satellite network, and effectively enhances the service coverage capability for global non-uniform services.

The invention provides a communication satellite interference source positioning method, which comprises the following steps of: modeling a phased array flow pattern, an interference signal and a signal received by an array element to obtain a corresponding signal model; resolving the signal model through a multiple signal classification algorithm to obtain the direction of arrival of the interference signal radiated to the phased array; performing angle conversion on the direction of arrival to obtain a pitch angle and an azimuth angle under a star body coordinate system; and converting the pitch angle and the azimuth angle under the satellite body coordinate system into longitude and latitude under a geocentric coordinate system through coordinate system conversion so as to determine the position of an interference source. The invention also provides a communication satellite interference source positioning system. Therefore, the problem of interference faced by user communication is effectively solved.

The invention discloses a lunar absolute radiation calibration method and calibration device for a satellite-borne visible light camera, and the method comprises the steps: building a transfer link model from the sun to the moon and then to a to-be-calibrated satellite-borne visible light camera, i.e., unifying the space coordinates of the sun, the moon and the to-be-calibrated satellite-borne visible light camera into a geocentric coordinate system; through orbit planning, the moon is perpendicular to the visual axis direction of the high-orbit area-array camera, the distance between the sun and the moon and the distance between the moon and the to-be-calibrated camera and the incident angle of sunlight are obtained, and then the sun radiance received by the remote sensor is obtained, so that the atmosphere transmission path is eliminated, the accurate entrance pupil radiance can be obtained, and the accuracy of calibration is improved. And further, an accurate absolute calibration coefficient is obtained. According to the invention, the in-orbit radiation calibration precision and frequency can be improved.

This application provides a positioning method and a related product. The method is applied to a positioning service, and is applicable to a communication system of network-assisted sidelink positioning. The method includes: receiving first positioning information, where the first positioning information is used to obtain coordinates of a first UE in a first coordinate system, and the first coordinate system is different from a geocentric coordinate system; performing sidelink (sidelink) positioning measurement with the first UE to obtain a measurement result; and sending second positioning information, where the second positioning information includes the measurement result and coordinates of a second UE in the first coordinate system. In embodiments of this application, the second positioning information including the measurement result and the coordinates of the second UE in the first coordinate system is sent, so that another device can quickly and accurately determine local coordinates of the first UE based on the second positioning information, and the another device can determine the local coordinates of the first UE based on the second positioning information, without performing coordinate transformation.

This invention relates to the field of positioning technology, providing a device positioning method, apparatus, electronic device, and storage medium. The method acquires the position information of a target device and the main and secondary antennas on the mobile device in a geocentric coordinate system, and converts each position information into position information in a station-centric coordinate system. Based on the converted position information, it determines the relative distance between the target device and the mobile device, as well as the heading and pitch angles of the target device relative to the mobile device, and then positions the target device. This method is introduced into a mobile device connected to the target device via a wireless communication module. Utilizing a dual-antenna model consisting of the main and secondary antennas on the mobile device, it can quickly achieve the positioning of the target device, enabling subsequent search for the target device. This eliminates the cumbersome process of pre-designing map coordinates and planning navigation paths required in navigation positioning, reducing computational load and saving positioning costs.

This application provides a positioning method and a related product. The method includes: receiving first positioning information, where the first positioning information is used to obtain coordinates of a first UE in a first coordinate system, and the first coordinate system is different from a geocentric coordinate system; performing sidelink positioning measurement with the first UE to obtain a measurement result; and sending second positioning information, where the second positioning information includes the measurement result and coordinates of a second UE in the first coordinate system. In this application, the second positioning information including the measurement result and the coordinates of the second UE in the first coordinate system is sent, so that another device can quickly and accurately determine local coordinates of the first UE based on the second positioning information, without performing coordinate transformation.

The invention discloses a method and a device for identifying and positioning an aerial visual angle blind area target, and belongs to the field of computer vision and remote sensing. The method comprises the following steps: acquiring multi-sensor data of a laser radar, a camera, an IMU and a GNSS; converting the laser radar point cloud to a local horizontal coordinate system, and identifying an area with an elevation mutation feature as a blind area detection candidate area; identifying a specific type and a pixel range of an aerial visual angle blind area target; and point cloud data corresponding to the target mask is extracted, the three-dimensional coordinates of the target in a geocentric geodetic coordinate system are solved in combination with the pose and coordinate information of the unmanned aerial vehicle, and the center position of the target is calculated to realize accurate positioning. According to the method, through the technical route of laser radar point cloud detection candidate area coarse positioning, image semantic segmentation accurate recognition and coordinate mapping resolving, the problems that efficient recognition and positioning are difficult and the accuracy is low in the prior art are solved, and type recognition and high-precision positioning of the aerial visual angle blind area target are achieved.

The invention discloses a method for determining a visual time window of a non-geostationary orbit satellite system, and the method comprises the steps: taking the position of a ground station as a tangent plane, and constructing a target coordinate system; converting the earth-centered earth-fixed coordinate value of the satellite into a target coordinate system; determining the visible range radius of the ground station on the tangent plane according to the minimum communication elevation angle parameter; according to the first coordinate values of the satellites in the target coordinate system at the current moment and the previous moment, determining second coordinate values of intersection points of connecting lines of the satellites with the earth center and the tangent plane at the two moments; and finally, determining the visual time window of the satellite according to the second coordinate values of the intersection points of the connecting line of the satellite and the earth center and the tangent plane at the two moments. The future visual time length can be predicted only based on the double-time-slot satellite coordinate value, the system computing resource occupancy rate is remarkably reduced, the computing efficiency of the visual time window is improved, and the method is particularly suitable for a space-borne computing platform or a ground station computing resource limited scene.

An inter-layer link design method of multilayer constellations with enhanced service coverage capacity is provided, the method includes: establishing a multilayer satellite network spinning T time slot, and obtaining a coordinate of each satellite in the multilayer satellite network at each time slot under a geocentric coordinate system; establishing an adjacency matrix of each constellation in the multilayer satellite network; establishing a feasible set of inter-layer links between adjacent layers in the multilayer satellite network for each time slot; establishing a globally non-uniform service model according to geographical population distribution, and dividing an earth surface into multiple logical area; obtaining a weight of inter-layer link in the feasible set of inter-layer links at each time slot; establishing an assignment model of inter-layer link according to the weight of inter-layer link; and optimizing an inter-layer link set in the feasible set of inter-layer links to obtain a target inter-layer link set.

The present invention provides a method and system for fire point recognition based on satellite images, which relates to the technical field of fire point recognition. The method includes: obtaining satellite attitude and orbit data when collecting satellite images; establishing fast conversion parameters for converting the coordinates of each pixel point in the satellite image into pixel point coordinates in the pixel coordinate system; using the fast conversion parameters to convert the image coordinates of each part of the satellite image into world coordinates in the geocentric coordinate system; obtaining the longitude and latitude of each world coordinate of the satellite image in the geocentric coordinate system according to the world coordinates; converting the brightness value of the pixel point to be detected in the satellite image into radiation brightness temperature; when the radiation brightness temperature is greater than the radiation brightness temperature threshold set according to the longitude and latitude, determining the pixel point to be detected as an initial fire point; performing a primary screening on the initial fire point according to the radiation brightness temperature difference value of the pixel point to be detected at different radiation wavelengths; and performing a secondary screening on the initial fire point after the primary screening in the cloud and water body area in combination with the fast conversion parameters to retain the target fire point.

The present application relates to a kind of beam pointing anti-interference method, device, control terminal and readable storage medium.The beam pointing anti-interference method is applied to satellite navigation system, according to the baseline of at least two directional signals and acquisition, determine reference datum angle and the direction angle of multiple satellites in geocentric coordinate system;According to reference datum angle, determine target attitude information;According to the direction angle of multiple satellites in geocentric coordinate system, target attitude information and reference datum angle, determine direction information;According to preprocessed satellite signal and direction information, obtain beam signal, the beam pointing anti-interference method provided in the present application can obtain direction information in beam pointing anti-interference technology inside satellite navigation system, without relying on external inertial navigation and satellite navigation and other systems to obtain direction information, with higher practicability.

The invention provides a beam interval determination method for satellite-ground communication, a terminal, equipment and a medium, and the method is applied to a ground terminal, and comprises the steps: obtaining a satellite coordinate, a sub-satellite point coordinate and a ground terminal coordinate under a geocentric coordinate system; establishing a first three-dimensional coordinate system by taking the sub-satellite point as an original point; determining coordinates of a satellite beam focus in a geocentric coordinate system based on the first three-dimensional coordinate system; establishing a second three-dimensional coordinate system by taking a satellite beam focus as an original point, and determining a beam interval of the ground terminal in the satellite beam in the second three-dimensional coordinate system; the ground terminal reports a beam interval in the satellite beam to the satellite; the beam interval is used for indicating a satellite to focus a satellite beam on the ground terminal. According to the method, the coordinate system is established by taking the satellite beam focus as the origin, the azimuth information of the ground terminal relative to the beam focus can be calculated more accurately, the calculation complexity is low, and the method is suitable for initial access and service communication stages of the ground terminal in satellite-ground communication.

The embodiment of the application provides a kind of distributed high-precision phased array measurement radar beam scheduling method and beam scheduling system, belong to radar beam scheduling technical field.The scheduling method includes: obtaining the antenna azimuth angle pitch information of each substation and radar site information, to obtain the conversion matrix of geocentric coordinate, station heart coordinate conversion matrix and array surface coordinate conversion matrix;Obtain the scheduling request of main station TRK;The main station target RAE coordinate of the scheduling request is converted into array surface coordinate according to the array surface coordinate conversion matrix;The main station target RAE coordinate is converted into geocentric coordinate according to the geocentric coordinate conversion matrix;The geocentric coordinate is sent to each substation for observation;Obtain each the feedback observation information of the substation, and integrate each the observation information according to time sequence signal, to obtain the observation data of target.The application solves the problem of each radar receiving time sequence synchronization and target position unification under multiple stations, ensures the consistency of data between different radar stations.

The invention provides a radar data consistency checking method and device, electronic equipment and a storage medium. Comprising the steps of obtaining first meteorological echo data scanned by the first radar and second meteorological echo data scanned by the second radar under the condition of determining that the first radar and the second radar meet a consistency check condition; performing coordinate conversion processing on the first meteorological echo data and the second meteorological echo data to obtain first converted meteorological data and second converted meteorological data under the three-dimensional geocentric coordinate system; determining a radar echo matching area of the first radar and the second radar based on the first converted meteorological data and the second converted meteorological data; screening out first effective meteorological data and second effective meteorological data based on a data quality control algorithm; and based on the first effective meteorological data and the second effective meteorological data, checking to obtain the radar data consistency of the first radar and the second radar. According to the invention, weather radar data consistency analysis can be realized, and the precision of radar observation data is ensured.

This invention discloses a method for detecting the azimuth and elevation angles of a low-Earth orbit (LEO) satellite transit, belonging to the field of satellite communication technology. The method includes the following steps: obtaining the satellite coordinates and communication time differences for three consecutive two-way communications between a ground terminal and a LEO satellite; calculating the distance between the ground terminal and the satellite at the three communication times based on the communication time differences; calculating the ground terminal coordinates in the geocentric coordinate system based on the satellite coordinates and the calculated three distances at the three communication times; and calculating the elevation and azimuth angles of the satellite relative to the ground terminal using a vector method based on the satellite coordinates and ground terminal coordinates at the time of the last communication.

The present invention relates to the field of radar detection technology, and in particular to a method for calculating the transmission path of a satellite-borne ice-penetrating synthetic aperture radar, including: obtaining earth model parameters, system parameters of the satellite-borne ice-penetrating synthetic aperture radar, and echo simulation parameters; the echo simulation parameters include an azimuth time sequence, and an antenna position sequence and a target position in the ice under a rotating geocentric coordinate system; in the Antarctic, the Arctic, or other ice-covered areas to be detected, the air medium is above the earth's surface, and the ice medium is below the earth's surface. For each azimuth time, the geocentric angle corresponding to the corresponding transmission path in the ice medium is solved, and then the length of the transmission path in the air medium and the ice medium is determined respectively; the transmission path connects the corresponding antenna position and the target position in the ice, and is located within the range of the transmitting antenna beam. The present invention can more accurately determine the transmission path, and provide technical support for radar imaging, echo simulation, etc.

The present invention provides a method and device for determining the DOP value of the orbital clock error of a low-earth orbit satellite; according to the measurement geometry of the low-earth orbit satellite facing the GNSS satellite, based on the carrier phase and pseudo-range ionosphere-free combination observation equations corresponding to the current orbit determination method, a formal covariance matrix of the low-earth orbit satellite orbit and clock error parameters in the geocentric coordinate system is obtained; according to the formal covariance matrix of the low-earth orbit satellite orbit and clock error parameters in the geocentric coordinate system, the DOP value of the precision factor of the low-earth orbit satellite orbit and clock error parameters in the geocentric coordinate system is determined. Based on this method, in the case where the true results of precise orbit determination and timing of the low-earth orbit satellite cannot be obtained, the DOP values of each precision factor are calculated through calculation, and then the formal precision of each parameter can be calculated according to the DOP values of each precision factor, and the correlation between parameters can be solved.

The application discloses a data processing method, device and equipment, and relates to the technical field of data processing, to solve the problem that the existing POI data collection mode needs manual participation and cannot obtain the center point coordinates and contour information of POIs. The method comprises the following steps: acquiring dot matrix data of a target point of interest (POI); converting each point cloud coordinate in the dot matrix data into a geocentric coordinate system coordinate; determining a planar area mapped by the geocentric coordinate system coordinate of the dot matrix data; determining the contour information of the target POI according to the position distribution of the dot matrix data in the planar area, and determining the center point coordinate of the planar area as the center point coordinate of the target POI. The application can achieve the technical effect of obtaining the center point coordinate and the contour information of the target POI without manual participation.

The invention provides a satellite multi-objective optimization planning method and system based on deep reinforcement learning, and relates to the technical field of deep learning, and the method comprises the steps: determining a visible satellite set corresponding to a to-be-detected region based on satellite orbit data and to-be-detected region information; the satellite orbit data comprises a satellite geocentric coordinate, and the information of the to-be-measured area comprises central point position information of the to-be-measured area; the time sequence combination of the to-be-detected area information and the visible satellite set is used as an action space, the to-be-detected area information, historical coupling parameters and the visible satellite set are used as a state space, and an initialized preset DQN network is trained; minimizing a mean square error between a current Q value and a target Q value through a preset reward function to adjust parameters of the DQN network, and obtaining an expected DQN network; determining a fire disaster response strategy based on the expected DQN network; the fire disaster response strategy comprises a target satellite and a reward function corresponding to the maximum Q value at each time point.

The invention provides a fire point identification method and system based on a satellite image, and relates to the technical field of fire point identification, and the method comprises the steps: obtaining satellite attitude and orbit data when the satellite image is collected; establishing a quick conversion parameter for converting the coordinates of each pixel point in the satellite image into the coordinates of the pixel points in the pixel coordinate system; converting each image coordinate of the satellite image into a world coordinate in a geocentric coordinate system by using the rapid conversion parameter; acquiring longitude and latitude of each world coordinate of the satellite image under the geocentric coordinate system according to the world coordinates; converting the brightness value of a pixel point to be detected in the satellite image into a radiation brightness temperature; when the radiation brightness temperature is greater than a radiation brightness temperature threshold value set according to the longitude and latitude, determining the to-be-detected pixel point as an initial fire point; performing primary screening on the initial fire points according to the radiation brightness temperature difference values of the to-be-detected pixel points at different radiation wavelengths; and performing secondary screening of the cloud water body area on the initial fire point after primary screening by combining the rapid conversion parameters, and retaining a target fire point.

The invention discloses a space measurement method based on an unmanned aerial vehicle real-time video, and the method comprises the steps: obtaining the parameters of an unmanned aerial vehicle in real time, including the pixel coordinates of a target point in a video image, the image size, the size of a camera sensor, the focal length, the zoom multiple, the attitude angle of an unmanned aerial vehicle camera, and the position and height of the unmanned aerial vehicle; defining a plurality of coordinate systems, including a pixel coordinate system, a camera coordinate system, an airframe north-east-earth coordinate system, an airframe north-east-sky coordinate system, an earth-centered earth-fixed coordinate system and a WGS84 geographic coordinate system; performing coordinate conversion calculation among a plurality of coordinate systems based on the unmanned aerial vehicle parameters; calculating geographic coordinates of all target points in the recognition area according to the step 3; and according to the geographic coordinates of each target point, constructing a geometric object representing the recognition region, and calculating the area of the geometric object as the area of the recognition region. The method can be suitable for real-time and rapid calculation of the target position and area in an emergency scene.

The application provides a high-precision real-time multi-path cooperative control method and system, comprising: establishing conversion relationships among a geodetic coordinate system, a geocentric coordinate system and a station-centered coordinate system; each device converts observation data of a target into global ECEF coordinates of the target through the conversion relationships according to its own geographic coordinates; an iterative weighted least square method is used to realize fusion of observation data of multiple cameras (integrated in a rotating cabin) to obtain the best estimation of the initial position of the target; the fused position is taken as an observation quantity and input into a Kalman filter based on a uniform motion model to dynamically adjust observation noise covariance and process noise covariance and to predict and track the motion state of the target, so that multi-camera cooperative control is realized.

The invention discloses a tracking maintaining method of a moving platform warning radar under a large pitch dimension error. The tracking maintaining method comprises the following steps: carrying out attenuation compression on a pitch angle to obtain a compressed pitch angle; converting the compressed pitch angle and other measurement information to an earth-centered earth-fixed coordinate system to obtain a first offset, and obtaining a measured earth-centered earth-fixed value according to the first offset; obtaining a filtering result at the t-th moment according to the measured earth-centered earth-consolidation value at the t-th moment and the predicted position at the t-th moment; based on an inversion mode, a pitch angle of compression filtering is obtained according to a filtering result; sequentially carrying out amplification reduction and threshold judgment on the compressed and filtered pitch angle to obtain a pitch angle to be output; and obtaining a final earth-centered earth-fixed output value according to the pitch angle to be output and other filtering information. The tracking maintaining method is a compression processing method based on the pitching dimension, can keep continuous tracking of the target in the direction, and has certain pitching dimension tracking precision.

The application provides an accurate calculation method, device and equipment for ISAR imaging rotation angle. The method comprises the following steps: obtaining first coordinate information of a target in a radar large earth coordinate system; converting the first coordinate information into a geocentric coordinate system to obtain third coordinate information; calculating a first included angle and a second included angle by using the third coordinate information in the geocentric coordinate system; and calculating the ISAR imaging rotation angle by using the first included angle and the second included angle. In the application, the spatial relationship among the geocenter, the ground-based radar and the target is coupled and calculated through the conversion among the coordinate systems, so that the correlation between the rotation angle value and the target orbit radius is generated, the limitations brought by the two-by-two spatial calculation model (radar-satellite, geocenter-satellite) of the traditional method are avoided, the accuracy of the imaging rotation angle calculation is improved, and finally the application efficiency of the ISAR technology in the medium-high orbit long-distance observation scene is improved.

The invention discloses a cable crane traction position detection method, device, equipment and system, and the method comprises the steps: obtaining a geocentric coordinate in a BESTXYZ protocol format through an RTK positioning module, obtaining a space reference line segment for determining the mechanical limit position of a cable crane, and building a space reference datum bound with a mechanical coordinate system of the cable crane; calculating a horizontal operation position through a vector vertical distance calculation mode, and calculating a droop distance through a geocentric distance difference mode; and carrying out precision optimization by adopting real-time differential correction and geometric offset compensation. According to the invention, the problem of insufficient precision caused by earth curvature and sag change in large-span cable crane positioning is solved, the horizontal position detection precision is superior to 10cm, the sag distance detection precision is superior to 6cm, and the system response time is less than 100ms.

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.