32 results about "Orbit correction" patented technology

The invention relates to an unmanned aerial vehicle high-precision positioning method based on micro-centimeter space low-orbit constellation and Beidou PPP-B2b fusion enhancement, and the method comprises the steps: obtaining a precise orbit correction number and a precise clock correction number of a GPS and a BDS system based on a Beidou PPP-B2b signal; calculating a precise orbit and a precise clock error of the GNSS satellite based on the precise orbit correction and the precise clock error correction; on the basis of the precise orbit and the precise clock error of the GNSS satellite, an observation value of a micro-centispace low-orbit satellite is fused, and a GNSS / LEO combined PPP observation model is constructed; and based on extended Kalman filtering, precise point positioning calculation is carried out on the GNSS / LEO combined PPP observation model, and the real-time high-precision position of the unmanned aerial vehicle is obtained. According to the invention, the real-time high-precision position of the unmanned aerial vehicle can be rapidly and stably obtained, and a reliable position reference is provided for autonomous operation of the unmanned aerial vehicle in a network-free environment.

The invention discloses a double-satellite-based real-time precise single-point positioning system combined positioning method, which synchronously receives and decodes real-time satellite orbits, clock correction and code deviation correction of PPP-B2b and HAS, and realizes real-time precise single-point positioning of a user side combined with GPS + BDS-3 + Galileo three systems through strategies such as orbital combination and clock correction optimization and switching. In the aspect of orbit correction, two satellite-based PPP orbit product references are unified through a Helmert similarity transformation model, and a combined orbit product is generated by adopting a weight adjustment strategy combining a priori fixed weight and a posterior fixed weight. In the aspect of the clock correction number, aiming at the problem that different satellite-based correction numbers are inconsistent in time reference, clock correction type consistency detection between a front epoch and a rear epoch is carried out, and ambiguity parameters of corresponding satellites are reset in time.

The invention discloses a satellite-borne microwave radar tracking wave beam on-orbit correction method, which comprises the following steps: an on-orbit calibration step: acquiring high-precision relative angle information through GNSS differential positioning by using two cooperative satellites equipped with GNSS receivers, and making a difference between the high-precision relative angle information and a tracking measurement angle of a satellite-borne microwave radar to a target satellite, obtaining a pointing deviation of a radar tracking beam; and an on-orbit correction step: injecting the pointing deviation into the spaceborne microwave radar in a ground injection mode, and adjusting a radar tracking algorithm to compensate the pointing deviation so as to realize on-orbit correction of tracking beam pointing. According to the invention, the problem of deterioration of radar product tracking precision caused by inconsistency of the on-orbit state and the ground state can be effectively solved, and the anti-risk capability of the load system function is improved.

This invention discloses a high-precision periodic orbit maintenance method based on maintenance point rolling optimization, relating to the field of spacecraft orbit control and orbit maintenance technology. Based on a high-precision ephemeris dynamics model, it constructs a maintenance point rolling prediction mechanism, a navigation and execution error model, and a least-squares orbit correction strategy under multi-path point constraints. This application uses the above method to achieve high-precision, low-energy-consumption, and highly robust long-term maintenance of a spacecraft's periodic orbit in a realistic multi-body perturbation environment.

The present application discloses an orbit correction device and an orbit production line, relating to the technical field of orbit processing. The orbit correction device includes a feeding unit, a correction unit, a first discharging unit, a second discharging unit and a detection unit; the feeding unit and the first discharging unit are arranged at the input end of the correction unit, and the feeding unit and the first discharging unit are arranged in parallel; the second discharging unit is arranged at the output end of the correction unit; the detection unit is arranged between the feeding unit and the first discharging unit, and the detection unit is used for detecting the straightness of the orbit. The orbit correction device provided by the present application can improve the operation efficiency and increase the production capacity.

The invention discloses an indoor positioning method, device, equipment, medium and product, and the method comprises the steps: packaging an RTCM message sent by a CORS base station platform into a positioning system information block through an LMF network element, and transmitting the positioning system information block to an indoor distribution system, thereby enabling a terminal to carry out the positioning through the positioning system information block broadcasted by the indoor distribution system, and enabling the positioning efficiency to be improved. Wherein the RTCM telegraph text comprises satellite ephemeris, orbit correction, clock correction and RTK differential data, so that the terminal can perform high-precision indoor positioning by combining the satellite ephemeris, the orbit correction, the clock correction and the RTK differential data, and the indoor positioning precision is improved.

The invention discloses a robot swing arm trajectory optimization method based on dynamic planning, which comprises the following steps: S1, constructing a central mode generator model, and generating a rhythmic swing arm trajectory; s2, acquiring posture state data of the humanoid robot in a running process; s3, converting the rhythmic swing arm track and attitude state data into attitude disturbance input vectors; s4, evaluating a track stability index, and judging whether the track stability index exceeds a deviation threshold value or not; s5, when a threshold value is deviated, an energy control period orbit adjustment algorithm is called to generate an orbit correction candidate parameter; s6, constructing a dynamic planning model by taking attitude disturbance input as a state variable, and searching and outputting an optimal trajectory correction parameter; and S7, the correction parameters are fed back to the central mode generator, and the swing arm track of the next period is generated. According to the invention, through disturbance modeling and track feedback regulation and control, stability optimization and dynamic adaptive control of swing arm motion are realized.

The application discloses a method for processing and analyzing whole-process errors of a lunar orbit transfer of a large-ellipse frozen orbit, and belongs to the technical field of deep space exploration orbits. The method comprises the following steps: setting whole-process error terms; adding an orbit entry error to an orbit parameter at an orbit entry point, separately calculating measured orbit errors of each stage to obtain orbit control velocity increments of the corresponding stages under the measured orbit errors; analyzing the influence of the whole-process errors on total velocity increments and judging whether a probe can enter a mission orbit; analyzing the influence of the whole-process errors on measurement and control conditions and judging whether the measurement and control conditions are met; analyzing the influence of the whole-process errors on orbit safety and autonomous orbit departure at the end of a mission and judging whether the probe will be controlled to depart from the orbit, if yes, the whole-process error analysis is ended, and if no, a reserved velocity increment is used for orbit correction. Compared with single analysis of errors of each stage, the application is more systematic and closer to a real situation, and the analysis result can provide a reference for overall and each subsystem design.

The application provides a laser link receiving and transmitting optical axis consistency real-time automatic on-orbit correction method and system, comprising the following steps: using laser intercommunication to mutually transmit received energy telemetry information, automatically adjusting the transmitting optical axis parameters according to a certain rule to find the strongest value point of the receiving energy of the other party, and realizing the on-orbit real-time automatic correction of the coaxiality of the receiving and transmitting optical axes. The method does not need to increase a separate receiving and transmitting optical axis calibration light path, realizes the closed-loop control of the optical axis adjustment through the mutual transmission of the energy information embedded in the link protocol, makes the receiving and transmitting light beams always maintain high-precision coaxiality, improves the stability and reliability of the laser link, and reduces the dependence on manual intervention calibration. The design scheme provides a reference and basis for the design of the laser communication receiving and transmitting optical axis coaxiality automatic correction method.

The invention provides an on-orbit correction method and system for deformation errors of a solar observation system of a geostationary orbit satellite. The method comprises the following steps: analyzing main deformation error terms of the solar observation system; performing light path mathematical modeling of the solar observation system according to the main deformation error term to obtain a light path model of the solar observation system; simplifying the light path model of the solar observation system; according to the simplified light path model of the solar observation system, resolving a corner correction value of a two-dimensional adjusting mechanism of the solar observation system; and carrying out deformation error on-orbit correction on the solar observation system according to a resolving result. The method can be used for light path correction of the solar observation system and ensures that the load optical axis is aligned with the sun in real time.

The application discloses a kind of satellite clock orbit correction product integrity information coding precision and update cycle determination method and device, belong to satellite navigation technical field.The method receives the real-time observation data of integrity monitoring station network and satellite clock orbit correction product integrity information by PPP-RTK cloud master station, constructs protection level prediction model based on the required navigation performance of user, and the sensitivity analysis is carried out to the protection level change caused by integrity information change, determines coding precision and average failure duration.Combining average failure duration constructs update cycle determination model, finally forms the coding and broadcast scheme of satellite clock orbit correction product integrity information.The application significantly improves the reliability of broadcast data and the integrity of PPP-RTK real-time positioning, and provides important support for intelligent, unmanned application of high-precision, high-integrity space-time information demand.

This utility model discloses a satellite constellation orbit correction device based on inter-satellite links, belonging to the field of aerospace technology. It includes a ground station body, with a receiver mounted on the top of the ground station body. Four supports are fixedly mounted on the bottom of the receiver, and the outer side of each support is provided with an insulating layer. This inter-satellite link-based satellite constellation orbit correction device controls an electric push rod to move a lifting plate. Through the limiting of a sliding groove, a slider assists the lifting plate in moving up and down within a receiving slot. At this time, the shielding mesh can be pulled up to achieve isolation and protection from the outside world. A discharge tube can reduce lightning damage to the equipment during thunderstorms. An antenna cover can effectively prevent rainwater from corroding the antenna elements. A filter can enhance signal transmission, enabling the antenna elements to stably send detection signals to the satellite constellation. Finally, through the receiver and external computing equipment, the satellite constellation orbit can be corrected.

The application discloses a positioning method and system based on Beidou PPP-B2b, and comprises the following steps: acquiring PPP-B2b orbit correction numbers broadcast by Beidou No.3 system geosynchronous orbit satellites; establishing a first full-network state space error estimation model of corresponding estimated parameters of satellite clock errors of multiple satellites, multiple satellites and multiple reference station servers according to the PPP-B2b orbit correction numbers; introducing reference constraints to the first full-network state space error estimation model, and redefining parameters to solve the satellite clock errors and the corresponding estimated parameters, so that positioning is performed according to the solved satellite clock errors. The application can quickly solve the satellite clock errors, improve the precision and reliability of the satellite clock errors, and realize wide-area real-time precise positioning.

This application relates to a method for sea ice classification and concentration inversion using UAV optical and thermal infrared data. The method includes: first, obtaining registered UAV optical and thermal infrared images through preprocessing techniques such as orbit correction, radiometric calibration, and geometric correction, providing high-quality data for subsequent sea ice information extraction; second, constructing an Ice-Unet deep learning model to obtain high-precision sea ice classification results; third, selecting surface temperature values ​​corresponding to open water and fixed ice in the sea ice classification to construct coordinate point values ​​for the thermal infrared data, and constructing a linear inversion model based on a radiative transfer model to obtain sea ice concentration inversion results based on thermal infrared data. This solves the problems of existing technologies in achieving rapid reporting and on-site support of sea ice information in Arctic waters.

The present application discloses an ultra-low orbit guarantee method, system and device for a near-earth satellite. The method includes: determining the satellite orbit elements at the current moment based on the atmospheric drag perturbation term, the conventional perturbation term and the small thrust perturbation term, and inputting the satellite orbit elements at the current moment into the orbit mechanics model; determining the first velocity position parameters of the satellite in the ICRS coordinate system at the prediction moment based on the orbit mechanics model and the satellite orbit elements, and converting the first velocity position parameters into the ECEF coordinate system to obtain the second velocity position parameters at the prediction moment; inputting the time feature, satellite state feature, space environment feature at the current moment, and the second velocity position parameters into the orbit correction model to obtain the target error prediction value; adjusting the second velocity position parameters based on the target error prediction value to obtain the target velocity position parameters of the satellite at the prediction moment; and performing an orbit decay risk warning based on the target velocity position parameters of the satellite at the prediction moment.

The application discloses a precise positioning product test system and method, which comprises a communication unit, a clock synchronization unit, a real satellite orbit parameter calculation unit, a navigation signal simulation generation unit and an SSR data generation unit. The application improves the accuracy of the broadcast satellite orbit and clock difference of the simulated generated navigation radio frequency signal. On the other hand, the application synchronously processes the input real SSR data information to generate the output SSR simulation signal, thereby improving the accuracy of the orbit correction number and the satellite clock difference correction number in the simulated generated SSR data. Meanwhile, the application receives the NTP time service to generate the clock signal which is distributed to the navigation signal simulation generation unit and the SSR data generation unit, and cooperates with the synchronous simulation control parameters output by the navigation signal simulation unit, so that the simulation time is synchronized with the real scene, and finally the precise positioning product test result is consistent with the real performance.

The present application relates to a kind of secondary mirror in-orbit correction and focusing device and method, secondary mirror in-orbit correction and focusing device includes secondary mirror frame, support frame and three support rods, secondary mirror frame is coaxially arranged in the upper side of support frame, three support rods are evenly arranged in the circumferential side of secondary mirror frame and support frame, support rod upper end is connected in the top of secondary mirror frame by joint bearing, support rod lower end is connected in the top of support frame by sliding bearing;Heating film is equipped on the side surface of support rod.The secondary mirror in-orbit correction and focusing device of the present application provides the kinematic installation mode of static for secondary mirror, installs secondary mirror on secondary mirror frame, secondary mirror frame is connected with three support rods by three joint bearings, three support rods are connected with support frame by three sliding bearings, joint bearing can release the three-way rotation degree of freedom of mounting point, sliding bearing can release the one-way rotation degree of freedom of mounting point, to statically determinate support, realize deformation decoupling between secondary mirror frame and support frame.

The invention discloses a satellite clock orbit correction product integrity information coding precision and updating period determination method and device, and belongs to the technical field of satellite navigation. According to the method, real-time observation data of an integrity monitoring station network and satellite clock orbit correction product integrity information are received through a PPP-RTK cloud master control station, a protection level prediction model is constructed based on navigation performance required by a user, and sensitivity analysis is performed on protection level changes caused by integrity information changes. And determining the coding precision and the average fault duration. And combining the average fault duration to construct an update period determination model, and finally forming a coding and broadcasting scheme of the integrity information of the satellite clock orbit correction product. According to the method, the reliability of broadcast data and the integrity of PPP-RTK real-time positioning are remarkably improved, and important support is provided for intelligent and unmanned application of high-precision and high-integrity space-time information requirements.

Embodiments of the present disclosure provide a solution for BeiDou Navigation Satellite System (BDS) B2b signal assistance information transmission. In the solution, a target device(110) receives, from a server(120), assistance information of a BDS B2b signal. The server(120) manages positioning for the target device(110). The assistance information comprises at least one of: navigation precision information related to the BDS B2b signal, data bit assistance information related to the BDS B2b signal, almanac assistance information related to the BDS B2b signal, universal time coordinate information related to the BDS B2b signal, orbit correction information related to the BDS B2b signal, clock correction information related to the BDS B2b signal, or quality information associated with a state space representation (SSR), or an ionospheric model information for BDS B2b signal. In this way, the BDS B2b signal can be used for positioning of the target device(110).

A satellite-borne magnetometer high-precision measurement and correction method comprises the following steps: S1, magnetometer signal processing and effectiveness judgment, and magnetic field data output; s2, carrying out ground comprehensive calibration on the magnetometer; and S3, on-orbit real-time correction and compensation are carried out based on a ground comprehensive calibration result. The method is high in universality, can solve the technical problem of improving the measurement precision of the spaceborne magnetometer provided with a magnetometer control system, fully utilizes the existing resources on the satellite and ground calibration means, and achieves the in-orbit high-precision measurement and correction of the spaceborne magnetometer. And a method for improving the measurement precision of the magnetometer is provided for low-cost small satellites and high-precision magnetic control satellites.

The precise point positioning module or the estimator is configured to determine second wide-lane (e.g., extra-wide-lane), floating or fixed ambiguities and associated second wide-lane biases for each satellite based on the second carrier phase and third carrier phase associated with the corresponding satellite. The precise point positioning module or the estimator is configured to determine narrow-lane, floating or fixed ambiguities, a satellite slow clock solution and a time-variant narrow-lane bias for a corresponding satellite based within a narrow-lane bias / code-phase bias filter for each satellite. A correction data estimator is configured to provide a correction signal that includes the first wide-lane bias, second wide-lane (e.g., extra-wide-lane) bias, time-variant narrow lane bias, orbit correction, and clock correction for a given satellite.

The invention discloses an in-orbit correction method for gyro installation reference errors of an in-orbit imaging satellite, which comprises the following steps of: performing iterative filtering adjustment on a correction coefficient in real time according to in-orbit data by taking an estimation error and a gyro angular velocity generated in a calculation process of calculating gyro constant drift through Kalman filtering in a conventional satellite in orbit as input; and one-step correction coefficient calculation is combined in the process of calculating the angular velocity of the gyroscope, and the correction coefficient after filtering convergence is substituted into angular velocity calculation, so that the angular velocity error caused by the installation reference error of the gyroscope is corrected in real time.

In some implementations, one or more devices may obtain epoch measurement information indicating pseudo-range measurements, carrier phase measurements, and Doppler measurements performed by a reference global navigation satellite system (GNSS) receiver on radio frequency (RF) signals transmitted by a plurality of GNSS satellites. The device (s) may obtain initial state space representation (SSR) data, including track correction, clock correction, and code bias information for the epoch. The device (s) may determine ionosphere correction data for the epoch based on measurement information and initial SSR data. The device (s) may determine troposphere correction data for the epoch based on the determined ionosphere correction data, measurement information, and initial SSR data. The device (s) may provide extended SSR data, where the extended SSR data includes ionosphere correction data and troposphere correction data.

This application discloses a method and system for dynamic monitoring of resource utilization in open-pit mines, relating to the field of mining monitoring technology. The method involves: performing precise orbit correction and registration on time-series SAR image data; extracting an initial annual digital elevation model (DEM) based on the registered SAR image data; compensating for incoherent areas to obtain a target annual DEM; converting the target annual DEM into a three-dimensional surface model of the open-pit image; determining the three-dimensional orebody model of the utilized orebody portion based on the three-dimensional orebody model and the three-dimensional surface model of the open-pit image; calculating resource utilization based on the three-dimensional orebody model; calculating the extracted volume using an earthwork quota method and using it as the orebody quota earthwork volume; confirming the reliability of resource utilization based on the orebody quota earthwork volume and the total volume of the three-dimensional orebody model, thus completing the dynamic monitoring of resource utilization. This application improves the accuracy and efficiency of dynamic monitoring of resource utilization in open-pit mines.

The invention discloses an orbit state domain parameter continuity guarantee method and system, and belongs to the technical field of satellite navigation positioning. The method comprises the following steps: receiving global reference station data and broadcast ephemeris data, and calculating a satellite real-time orbit correction value; predicting a real-time track correction value based on a reinforcement learning model, comparing the real-time track correction value with a third-party precision track product, and training an optimization model by using difference data; and when the real-time calculation is interrupted, the predicted value is used for coding and broadcasting, so that the parameter continuity is guaranteed. According to the method, the change mode of the orbit correction number can be automatically learned from the data, the prediction requirements under different satellite and environment conditions are met, and the prediction timeliness and accuracy are improved.

The precise point positioning module or the estimator is configured to determine second wide-lane (e.g., extra-wide-lane), floating or fixed ambiguities and associated second wide-lane biases for each satellite based on the second carrier phase and third carrier phase associated with the corresponding satellite. The precise point positioning module or the estimator is configured to determine narrow-lane, floating or fixed ambiguities, a satellite slow clock solution and a time-variant narrow-lane bias for a corresponding satellite based within a narrow-lane bias / code-phase bias filter for each satellite. A correction data estimator is configured to provide a correction signal that includes the first wide-lane bias, second wide-lane (e.g., extra-wide-lane) bias, time-variant narrow lane bias, orbit correction, and clock correction for a given satellite.

The invention discloses a Beidou high-precision common-view time comparison method, which comprises the following steps of: simultaneously observing a Beidou satellite by two observation stations, collecting the pseudo range of the Beidou satellite, and receiving a broadcast ephemeris and a PPP-B2b signal broadcasted by the Beidou satellite in real time; modifying a satellite position vector provided by the broadcast ephemeris based on the orbit correction number; solving the actual path troposphere delay from the satellite signal to the observation station; calculating the time difference between the two places when the two observation stations view the same satellite under the same epoch; and the common view time difference between the two observation stations is calculated through a weighted average algorithm. According to the method, the error of common-view time comparison is reduced by adopting Beidou PPP-B2b signal data, improved troposphere delay and a weighted average method, and the time comparison precision of common-view Beidou satellites at two places is effectively improved.

The application discloses a kind of track state domain parameter continuity guarantee method and system, belong to satellite navigation and positioning technical field.The method includes: receiving global reference station data and broadcast ephemeris data, calculating satellite real-time orbit correction value;Real-time orbit correction value is predicted based on reinforcement learning model, and it is compared with third party precise orbit product, and difference data is used to train optimization model;When real-time calculation is interrupted, the predicted value is used to encode broadcast, to guarantee parameter continuity.The application can automatically learn the change mode of orbit correction number from data, adapt to the prediction needs under different satellites and environmental conditions, improve the timeliness and accuracy of prediction.

The application aims to provide a reinforcement learning-based strong generalization capability accelerator orbit correction method and system, which comprises the following steps: establishing a simulation accelerator according to the data of a real accelerator; measuring BPM values in the simulation accelerator and constructing a feature matrix according to the BPM values; inputting the feature matrix into a reinforcement learning model, and outputting a current change value from the reinforcement learning model; and correcting the current value of the real accelerator according to the current change value and the magnet current value in the real accelerator. The application can greatly save online debugging time and cost and improve the beam debugging efficiency.

The invention discloses a precision positioning product test system and method. The precision positioning product test system comprises a communication unit, a clock synchronization unit, a real satellite orbit parameter calculation unit, a navigation signal simulation generation unit and an SSR data generation unit. On one hand, the accuracy of simulating and generating the broadcast satellite orbit and the clock error of the navigation radio frequency signal is improved; on the other hand, the input real SSR data information is subjected to synchronous processing to generate and output SSR analog signals, and the accuracy of orbit correction and satellite clock error correction in the SSR data generated through simulation is improved; meanwhile, by receiving NTP time service to generate a clock signal and distributing the clock signal to the navigation signal simulation generation unit and the SSR data generation unit, and by cooperating with a synchronous simulation control parameter output by the navigation signal simulation unit, it is ensured that simulation time is synchronous with a real scene, and finally the test result of the precision positioning product is kept consistent with the real performance.