CN112394381B - Full-autonomous lunar navigation and data communication method based on spherical satellite - Google Patents

Full-autonomous lunar navigation and data communication method based on spherical satellite Download PDF

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CN112394381B
CN112394381B CN202011064605.9A CN202011064605A CN112394381B CN 112394381 B CN112394381 B CN 112394381B CN 202011064605 A CN202011064605 A CN 202011064605A CN 112394381 B CN112394381 B CN 112394381B
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lunar
satellite
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CN112394381A (en
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刘红卫
王兴华
付康佳
张翔
韩伟
胡粲彬
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National Defense Technology Innovation Institute PLA Academy of Military Science
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/04—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing carrier phase data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/27—Acquisition or tracking or demodulation of signals transmitted by the system creating, predicting or correcting ephemeris or almanac data within the receiver
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services

Abstract

The invention discloses a full-autonomous lunar navigation and data communication method based on a spherical satellite, wherein a lunar-circle orbit is selected as a navigation satellite running orbit to effectively cover the lunar surface, so that any point of the lunar surface can receive an effective navigation satellite signal at any time, and an orbit prediction value in a longer time can be obtained under the condition that the initial state of the spherical satellite is known. In addition, the inversion of the parameters of the dynamic model is carried out through inter-satellite distance measurement, so that the high-precision dynamic model can be obtained, and the high-precision prediction of the constellation ephemeris is realized to support the long-term all-autonomous operation of the constellation. In addition, the space position of the lunar user is obtained through the distance measurement solution between the lunar user and a plurality of satellites observed by the lunar user, the accurate target position and speed can be provided for lunar activities, efficient data communication service can be implemented, navigation positioning of any point of the lunar surface and data transmission between any two points of the lunar surface can be achieved, and the requirement of a manned lunar activity task can be well met.

Description

Full-autonomous lunar navigation and data communication method based on spherical satellite
Technical Field
The invention relates to the technical field of lunar satellite navigation and communication, in particular to a full-autonomous lunar navigation and data communication method based on a spherical satellite.
Background
The moon has abundant mineral resources, and many of the resources belong to rare elements on the earth, so that the moon has important significance on the economic activities on the earth and can make important contribution to the sustainable development of human society. The lunar surface rock debris is rich in rare gas elements, wherein helium-3 is fuel for controllable nuclear fusion and has more advantages than deuterium and tritium. Meanwhile, the lunar low gravity environment also provides superior conditions for developing scientific experiments. When people carry out lunar activities, support of a plurality of infrastructure conditions is needed, wherein lunar navigation and data communication are one of the most important support conditions, and accurate positioning of a target object and real-time data transmission of astronauts on the lunar surface are guaranteed. In consideration of the lack of support of lunar facilities in the early stage of the human lunar task, high-precision navigation and data communication of the whole lunar surface are required to be realized by virtue of the lunar constellation.
In the existing document 1, "zhuyu, caokuan, xijiafeng, chengming, segmentary peak building", a lunar surface user accurate positioning technology research based on ground-based radio measurement, an electronic measurement and instrument study, 2013,27(10):907 + 915 ", a technical approach for lunar surface navigation positioning based on the current ground-based radio is researched, and the positioning accuracy of a lunar surface landing point and a lunar surface rover is analyzed. Analysis shows that under the current foundation radio measurement and control technology, the lunar user positioning accuracy is superior to hundred meters. However, since the moon always faces the earth on one side and always faces away from the earth on the other side, the ground-based radio cannot realize the navigation and positioning of the whole moon. Meanwhile, the foundation measurement distance is long, so that the navigation and positioning accuracy of the lunar user is limited, and the high-accuracy full lunar navigation is difficult to meet.
The prior patent CN201410827871.0 discloses a method for determining the position and attitude of a patrol instrument based on the gravity vectors of the sun, the earth center and the lunar surface, which comprises the steps of firstly determining the tilt attitude of the patrol instrument according to the gravity vector of the lunar surface, i.e. determining the pitch angle and the azimuth angle, then obtaining the sun vector and the earth center vector through ephemeris calculation and sensor measurement, and finally determining the lunar surface position and the motion direction of the patrol instrument based on the double-vector attitude determination principle. However, since it is necessary for the lunar surface user to observe the sun and the earth at the same time and a high-precision lunar gravitational field model is required, the time range of use is limited and the navigation and positioning precision is limited.
Existing document 3, namely Tan Longyu, Heliang, Penyang, Wanmegalong and Cao Tao, a long-distance high-reliability lunar patrol autonomous navigation method, manned spaceflight, 2018,24(3), 340-. However, the lunar surface user is required to carry inertial, visual and astronomical observation loads, the requirement on target capability is high, if the lunar surface user does not have the loads, the method cannot be applied, and the application range is limited.
In the existing document 4, "Sun Zezhou, Hanyu, Huangdao, Liu aptu, Li dynasty flies, pure old, Zhang Ting, Qianhui Nu, Chang E three- # detector lunar communication system design and verification. However, the communication verification of the patrol instrument on the lander is only carried out aiming at the Chang' e task, and the interconnection between any two points on the lunar surface cannot be realized.
Therefore, the current lunar surface user navigation positioning method is mainly limited to remote radio measurement of a foundation, or lunar surface navigation positioning is realized by acquiring measurement data through sensors such as inertia, vision, astronomy and the like carried by a lunar surface user, the precision of the lunar surface user navigation positioning method is in the order of hundreds of meters or sub-hundreds of meters, and the navigation positioning precision is low. For the requirement of a full lunar data communication task, effective lunar infrastructure communication facility support is lacked, and rapid and effective data communication between any lunar places is difficult to realize. Aiming at the future manned lunar landing task, a special full-lunar high-precision navigation positioning and data communication method is urgently needed.
Disclosure of Invention
The invention provides a full-autonomous lunar navigation and data communication method based on a spherical satellite, which aims to solve the technical problems that the existing lunar user navigation and positioning method is poor in positioning accuracy and difficult to realize rapid communication between any two points of the lunar surface.
According to one aspect of the present invention, there is provided a global satellite-based fully autonomous lunar navigation and data communication method, comprising the steps of:
step S1: uniformly deploying a plurality of spherical satellites on a circular moon orbit, wherein the plurality of spherical satellites form a lunar navigation and data communication constellation, and each spherical satellite is provided with a navigation signal transmitter, a data transponder and an inter-satellite range finder;
step S2: acquiring the initial position and the initial speed of each spherical satellite in a lunar navigation and data communication constellation;
step S3: inverting earth-moon space dynamics model parameters and the initial position and the initial speed of each spherical satellite based on inter-satellite distance measurement information between the spherical satellites, and performing constellation ephemeris forecast by taking the acquired initial position and the acquired initial speed of each spherical satellite as input conditions;
step S4: measuring the distance between the lunar user at any moment and a plurality of satellites observed by the lunar user, and solving to obtain the spatial position of the lunar user at the moment based on the measured distance value;
step S5: the method comprises the steps of obtaining lunar data communication transmitting point coordinates, lunar receiving point coordinates and spatial position distribution of a current lunar navigation and data communication constellation, planning a data communication link of the lunar transmitting point-spherical satellite-lunar receiving point, and achieving data transmission of any two points of the lunar surface.
Further, the step S3 includes the following steps:
step S31: establishing a relational expression between the inter-satellite distance and the inter-satellite distance change rate of any two spherical satellites and the earth-moon space dynamic model parameters;
step S32: measuring by using an inter-satellite distance measuring instrument to obtain the inter-satellite distance and the inter-satellite distance change rate between any two spherical satellites;
step S33: jointly solving to obtain earth-moon space dynamic model parameters and an initial state correction value of the spherical satellite based on the relational expression and the measurement result;
step S34: and repeating the steps S31-S33 at intervals to obtain the latest earth-moon space dynamic model parameters and the initial position and the initial velocity of each ball satellite, and performing constellation ephemeris forecast by using the latest earth-moon space dynamic model parameters and the initial position and the initial velocity of each ball satellite.
Further, the step S1 further includes the following steps:
and continuously iterating and optimizing the constellation configuration parameters by taking reduction of the spatial position precision factor and improvement of the lunar surface coverage as design targets.
Further, the lunar surface coverage refers to that at least four satellites can be observed at any point of the lunar surface at any time;
the spatial position accuracy factor is obtained by the following steps:
assuming that there are N satellites in the constellation, the elevation and azimuth of the lunar user with respect to these satellites are θu→s,i、αu→s,i，i＝1,2,...,N；
Defining a geometric matrix G and a weight system matrix H:
Figure BDA0002713390090000041
H＝(GTG)-1
the spatial position accuracy factor is
Figure BDA0002713390090000042
Wherein h is11、h22、h33Representing the first three diagonal elements of the weight system matrix H.
Further, the process of solving the spatial position of the lunar user in step S4 specifically includes the following steps:
step S41: establishing a distance calculation expression between a lunar user and a spherical satellite;
step S42: measuring the distance between the lunar user and at least four satellites observed by the lunar user at any moment;
step S43: and jointly solving to obtain the spatial position of the lunar user based on the computational expression and the distance measurement result.
Further, in step S42, the distance between the lunar user and the spherical satellite at any time is obtained by measuring the pseudo-range, the carrier phase, or the doppler shift of the lunar user receiver.
Further, the step S4 further includes the following steps:
and setting the navigation signal transmitting power of the spherical satellite.
Further, the step S5 includes the following steps before the data transmission between any two points of the moon is performed:
and setting the relay signal transmitting power of the spherical satellite.
Further, the navigation signal transmission power or the relay signal transmission power of the ball satellite is calculated based on the following formula:
Figure BDA0002713390090000051
wherein, PTTransmitting power of a relay signal or a navigation signal for a spherical satellite, PRFor lunar user antenna reception sensitivity, GTGain for spherical satellite signal transmission, GRFor lunar user antenna reception gain, λ is the relay signal wavelength or the navigation signal wavelength, and d is the distance between the lunar satellite and the lunar user.
Further, the initial position and the initial state of each ball satellite are obtained by ground-based radio measurement in step S2.
The invention has the following effects:
according to the fully autonomous lunar navigation and data communication method based on the spherical satellite, the circumlunar orbit is selected as the navigation satellite operation orbit, the lunar surface can be effectively covered, any point of the lunar surface can receive effective navigation satellite signals at any time, and support is provided for ensuring subsequent navigation accuracy. Furthermore, a spherical satellite is used as a navigation satellite, and an orbit prediction value can be acquired for a long time under the condition that the initial state is known. In addition, the high-precision dynamic model can be obtained by inverting the dynamic model parameters through inter-satellite distance measurement, the high-precision prediction of the constellation ephemeris is realized to support the long-term all-autonomous operation of the constellation, and the all-autonomous operation of lunar navigation which does not depend on the ground is realized. In addition, the space position of the lunar user is obtained through the distance measurement solution between the lunar user and a plurality of satellites observed by the lunar user, the accurate target position and speed can be provided for lunar activities, efficient data communication service can be implemented, navigation positioning of any point of the lunar surface and data transmission between any two points of the lunar surface can be achieved, and the requirement of a manned lunar activity task can be well met.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flow chart illustrating a method for global satellite-based fully autonomous lunar navigation and data communication in accordance with a preferred embodiment of the present invention.
Fig. 2 is a sub-flowchart of step S3 in fig. 1 according to the preferred embodiment of the present invention.
Fig. 3 is a sub-flowchart of the process of solving the spatial position of the lunar user in step S4 in fig. 1 according to the preferred embodiment of the present invention.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the accompanying drawings, but the invention can be embodied in many different forms, which are defined and covered by the following description.
As shown in fig. 1, a preferred embodiment of the present invention provides a global autonomous lunar navigation and data communication method based on spherical satellites, comprising the steps of:
step S1: uniformly deploying a plurality of spherical satellites on a circular moon orbit, wherein the plurality of spherical satellites form a lunar navigation and data communication constellation, and each spherical satellite is provided with a navigation signal transmitter, a data transponder and an inter-satellite range finder;
step S2: acquiring the initial position and the initial speed of each spherical satellite in a lunar navigation and data communication constellation;
step S3: inverting earth-moon space dynamics model parameters and the initial position and the initial speed of each spherical satellite based on inter-satellite distance measurement information between the spherical satellites, and performing constellation ephemeris forecast by taking the acquired initial position and the acquired initial speed of each spherical satellite as input conditions;
step S4: measuring the distance between the lunar user at any moment and a plurality of satellites observed by the lunar user, and solving to obtain the spatial position of the lunar user at the moment based on the measured distance value;
step S5: the method comprises the steps of obtaining lunar data communication transmitting point coordinates, lunar receiving point coordinates and spatial position distribution of a current lunar navigation and data communication constellation, planning a data communication link of the lunar transmitting point-spherical satellite-lunar receiving point, and achieving data transmission of any two points of the lunar surface.
It can be understood that, in step S1, the torus-lunar orbit is selected as the constellation operation orbit, the orbit height is in the range of 2000km to 5000km, the constellation operation orbit includes a plurality of orbital planes, the ascending points of the orbital planes are uniformly distributed along the equator of the moon, and a plurality of spherical satellites are uniformly distributed on each orbital plane, so that multiple spherical satellites can be observed at any point of the moon at any time, effective coverage on the moon can be formed, it is ensured that any point of the moon can receive effective navigation satellite signals at any time, and support is provided for ensuring subsequent navigation accuracy. In addition, the spherical satellite is adopted as a navigation satellite, has the advantages that the shape is isotropic, the dynamic characteristics are simple, the perturbation force such as sunlight pressure and the like can be accurately calculated according to the shape parameters of the satellite, the gravity of the moon, the sun, the earth and the like can be calculated according to the high-precision gravity model, so that the stress state of the spherical satellite can be accurately determined, and the orbit prediction value in a long time can be obtained under the condition that the initial state is known. The appearance of the spherical satellite is a standard sphere to form a platform structure of the satellite, three types of key loads are loaded in the spherical satellite, and the three types of key loads are respectively navigation signal transmitters which are used for broadcasting navigation information such as ranging codes, navigation messages, carrier signals and the like and providing information service for lunar navigation; the data repeater is used for realizing data communication among different task objects on the lunar surface; the inter-satellite distance measuring instrument can adopt a microwave or laser distance measuring device and is used for obtaining the distance between two spherical satellites and the change rate of the distance, providing observation data for the subsequent inversion of parameters of earth-moon space dynamics models such as a moon gravitational field, sunlight pressure and the like, obtaining a high-precision dynamics model, the initial position and the initial speed of the spherical satellites and providing support for the prediction of constellation ephemeris.
It can be understood that, in the fully autonomous lunar navigation and data communication method based on the spherical satellite according to the embodiment, the lunar circle orbit is selected as the navigation satellite orbit, so that the lunar surface can be effectively covered, any point of the lunar surface can receive an effective navigation satellite signal at any time, and support is provided for ensuring subsequent navigation accuracy. Furthermore, a spherical satellite is used as a navigation satellite, and an orbit prediction value can be acquired for a long time under the condition that the initial state is known. In addition, the high-precision dynamic model can be obtained by inverting the dynamic model parameters through inter-satellite distance measurement, the high-precision prediction of the constellation ephemeris is realized to support the long-term all-autonomous operation of the constellation, and the all-autonomous operation of lunar navigation which does not depend on the ground is realized. In addition, the space position of the lunar user is obtained through the distance measurement solution between the lunar user and a plurality of satellites observed by the lunar user, the accurate target position and speed can be provided for lunar activities, efficient data communication service can be implemented, navigation positioning of any point of the lunar surface and data transmission between any two points of the lunar surface can be achieved, and the requirement of a manned lunar activity task can be well met.
It is understood that, as a preferable mode, the step S1 further includes the following steps:
and continuously iterating and optimizing constellation configuration parameters by taking reduction of spatial position precision factors and improvement of lunar surface coverage as design targets.
The lunar surface coverage refers to that at least four spherical satellites can be observed at any point of the lunar surface at any time, so that the constellation can be further ensured to effectively cover the whole lunar surface, and data support is provided for the subsequent lunar surface user space position solution. The requirement of the space position accuracy factor (PDOP) means that any point of the lunar surface is better relative to the geometric structure of the observable navigation satellite, and the smaller the PDOP value is, the better the PDOP value is. Specifically, the spatial position accuracy factor is obtained by the following steps:
assuming that there are N satellites in the constellation, the elevation and azimuth of the lunar user with respect to these satellites are θu→s,i、αu→s,i，i＝1,2,...,N；
Defining a geometric matrix G and a weight system matrix H:
Figure BDA0002713390090000081
H＝(GTG)-1
the spatial position accuracy factor is
Figure BDA0002713390090000082
Wherein h is11、h22、h33Representing the first three diagonal elements of the weight system matrix H.
It is understood that, in step S1, the constellation configuration parameters are continuously iteratively optimized by using the PDOP value reduction and the lunar coverage improvement as optimization targets until a certain number of iterations is met or the PDOP value is smaller than a threshold and at least four satellites can be observed at any point of the lunar surface at any time, and the iteration is terminated. The constellation configuration parameters include, but are not limited to, motion parameters of spherical satellites in a constellation, distance parameters between the spherical satellites, angle parameters between the spherical satellites, and the like.
Specifically, in step S2, the initial position x of each ball satellite in the constellation is obtained through ground-based radio measurement meansi(t0) And an initial velocity vi(t0) Where i is 1, 2.., N is the number of spherical satellites in the constellation, t0At the initial time, the initial position and initial velocity of the constellation ephemeris are the long-term fully autonomous ephemeris in step S3And providing input conditions for initializing the constellation state parameters by high-precision forecasting. However, the measurement distance of the ground-based radio measurement is long, so that the initial state value of the constellation ephemeris has a large error, and the correction needs to be performed through a subsequent dynamics inversion process.
It can be understood that in the lunar navigation and data communication constellation, high-precision laser inter-satellite ranging or microwave inter-satellite ranging exists between the spherical satellite and the spherical satellite, and the method can be used for sensitive dynamic model parameters such as a lunar gravitational field, sunlight pressure, three-body gravity and the like, on-satellite data processing is carried out at regular intervals, and the latest lunar spatial dynamic model parameters are obtained.
As shown in fig. 2, the step S3 includes the following steps:
step S31: establishing a relational expression between the inter-satellite distance and the inter-satellite distance change rate of any two spherical satellites and the earth-moon space dynamic model parameters;
step S32: measuring by using an inter-satellite distance measuring instrument to obtain the inter-satellite distance and the inter-satellite distance change rate between any two spherical satellites;
step S33: jointly solving to obtain earth-moon space dynamic model parameters and an initial state correction value of the spherical satellite based on the relational expression and the measurement result;
step S34: and repeating the steps S31-S33 at intervals to obtain the latest earth-moon space dynamic model parameters and the initial position and the initial velocity of each ball satellite, and performing constellation ephemeris forecast by using the latest earth-moon space dynamic model parameters and the initial position and the initial velocity of each ball satellite.
Specifically, let the moon gravitational field potential coefficient to be considered be C1,C2,...,CnThe coefficient of the field position of the earth's gravity is D1,D2,...,DmThe other dynamic parameters such as sunlight pressure, three-body attraction and the like are S1,S2,...,SpThe initial state of a single navigation satellite in the constellation is x0,v0Wherein, an initial state x0,v0Obtained by terrestrial radio measurements, for initializing the constellation state parameters. However, the foundation is farDistance measurement is such that x0,v0The initial value of (2) has large error and needs to be corrected through dynamic model calculation. Wherein parameter set { C1,C2,...,Cn；D1,D2,...,Dm；S1,S2,...,SpCompletely determine the dynamic model of the spherical satellite, while the parameter set x0,v0And completely determining the initial state of the spherical satellite, and obtaining the satellite motion state at any moment under the condition of a known dynamic model and the initial state according to the orbital dynamics. Then from the orbital dynamics follows the equation C1,C2,...,Cn；D1,D2,...,Dm；S1,S2,...,Sp；x0,v0The functional relationship to satellite position x (t) and velocity v (t) is determined. Then, for any two spherical satellites, the values { C ] are corrected from the kinetic model parameters and the initial state1,C2,...,Cn；D1,D2,...,Dm；S1,S2,...,Sp；xi0,vi0,xj0,vj0Rho distance between the two satellitesij＝||xi(t)-xj(t) |, rate of change of inter-satellite distance
Figure BDA0002713390090000101
Is also determined, i.e.
ρij＝fρ(C1,C2,...,Cn；D1,D2,...,Dm；S1,S2,...,Sp；xi0,vi0,xj0,vj0；t)
Figure BDA0002713390090000102
Because the position and the speed of the spherical satellite are vectors in a three-dimensional space, the above formula contains n + m + p +12 unknowns, and the inter-satellite space of at least (n + m + p +12)/2 sampling points is needed for solving the unknownsThe distance and the inter-satellite distance change rate are solved, and the n + m + p +12 unknowns obtained by solving also comprise initial state correction values x of the spherical satellites i and j in addition to earth-moon space dynamic parametersi0,vi0,xj0,vj0The correction values further refine the initial state of the spherical satellites i, j compared to ground-based radio measurements. By repeatedly carrying out the processes, the earth-moon space dynamics parameters and the initial state of the constellation satellite can be continuously updated, and then the accurate prediction of the constellation state is carried out by orbital extrapolation, so that the constellation is operated in a fully autonomous and high-precision manner.
The method comprises the steps of establishing the relational expression for any two spherical satellites in lunar navigation and data communication constellations, obtaining an inter-satellite distance value and an inter-satellite distance change rate value between the two spherical satellites by utilizing high-precision laser inter-satellite distance measurement or microwave inter-satellite distance measurement, and then jointly solving to obtain earth-moon space dynamic model parameters and initial state correction values (C) of the spherical satellites1,C2,...,Cn；D1,D2,...,Dm；S1,S2,...,Sp；xi0,vi0,xj0,vj0) And obtaining a high-precision dynamic model.
After the latest earth-moon space dynamics model parameters are obtained through inter-satellite ranging data processing at regular intervals, ephemeris forecast is carried out by combining the corrected initial state of the spherical satellite, so that long-term high-precision and full-autonomous acquisition of constellation ephemeris is realized, the constellation is supported to run for a long time and the full-autonomous operation of lunar navigation independent of the ground is realized.
It can be understood that, in the step S3, a constellation navigation task fully-autonomous operation method is provided, in which a earth-moon dynamical model is inverted on a constellation by using inter-satellite distance measurement information between spherical satellites, and then high-precision prediction of constellation ephemeris is performed by using the updated dynamical model and constellation initial state parameters, so that ground-independent lunar navigation fully-autonomous operation is realized.
In addition, as can be seen from step S1, N satellites can be observed at any point (x, y, z) on the lunar surface at any time, N is not less than 4, and as can be seen from step S3The space positions of the spherical satellites can be acquired autonomously through ephemeris forecast, and are set as
Figure BDA0002713390090000111
Wherein j is 1, 2.
As shown in fig. 3, the process of solving the spatial position of the lunar user in step S4 specifically includes the following steps:
step S41: establishing a distance calculation expression between a lunar user and a spherical satellite;
step S42: measuring the distance between the lunar user and at least four satellites observed by the lunar user at any moment;
step S43: and jointly solving to obtain the spatial position of the lunar user based on the computational expression and the distance measurement result.
Specifically, the distance calculation expression between the lunar user and the spherical satellite is as follows:
Figure BDA0002713390090000112
where c is the speed of light, δ t is the time difference between the navigation satellite and the lunar user,
Figure BDA0002713390090000113
is the spatial position of the terrestrial satellite and (x, y, z) is the spatial position of the lunar user.
In step S42, the distances between the lunar user and the plurality of satellites at any time are obtained through pseudorange, carrier phase or doppler shift measurement of the lunar user receiver.
There are only four unknowns, namely the lunar user position (x, y, z) and the time difference δ t. At least 4 spherical satellites can be observed at any point (x, y, z) of the lunar surface at any time, the equations are established for the N observed navigation satellites, the space positions (x, y, z) of the lunar surface user can be obtained through simultaneous solving, and after the accurate position of the lunar surface user is obtained, subsequent high-precision navigation and data forwarding can be carried out.
It is understood that, as a preferable mode, the step S4 further includes the following steps:
and setting the navigation signal transmitting power of the spherical satellite.
Specifically, the navigation signal transmission power of the ball satellite is calculated based on the following formula:
Figure BDA0002713390090000121
wherein, PTNavigational signal transmission power, P, for a spherical satelliteRFor lunar user antenna reception sensitivity, GTGain for spherical satellite signal transmission, GRThe navigation signal transmitting power requirement of the spherical satellite can be accurately calculated through the formula. It can be understood that, when setting the navigation signal transmitting power of the spherical satellite, the navigation signal transmitting power of the spherical satellite is usually calculated according to the farthest distance between the spherical satellite and the lunar user in the constellation, so as to ensure that the lunar user can successfully receive the navigation signal transmitted by the navigation satellite observed by the lunar user. And after the navigation signal transmitting power of the spherical satellite is set, transmitting a navigation signal to the lunar user, ensuring that the lunar user can successfully receive an effective navigation signal, and further measuring the distance between the lunar user and the spherical satellite observed by the lunar user.
The pseudo range, carrier phase or Doppler frequency shift measurement of the lunar user receiver obtains the distance between the lunar user and a plurality of satellites at any time
It can be understood that, in the step S5, the lunar data communication transmitting point coordinates and the lunar data communication receiving point coordinates can be obtained through the solution in the step S4, and the spatial position distribution of the current lunar navigation and data communication constellation is automatically obtained through constellation ephemeris forecast, so that a data communication link is planned based on the transmitting point coordinates, the receiving point coordinates and the spatial position distribution of the current lunar navigation and data communication constellation, and data transmission of any two points on the lunar surface is realized.
Preferably, the step S5 further includes the following steps before the data transmission between any two points of the moon:
and setting the relay signal transmitting power of the spherical satellite.
Specifically, the relay signal transmission power of the ball satellite is calculated based on the following formula:
Figure BDA0002713390090000131
wherein, PTTransmitting power of the relay signal for the spherical satellite, PRFor antenna reception sensitivity, G, of lunar users (i.e. data reception points)TGain for spherical satellite signal transmission, GRThe antenna receiving gain of the lunar user (i.e. data receiving point), λ is the relay signal wavelength, and d is the distance between the lunar satellite and the lunar user (i.e. data receiving point). Similarly, the spatial position of the data receiving point is obtained by the above-mentioned solution in step S4, and the spatial position of the ball satellite can be automatically obtained by ephemeris forecast, so that the distance between the ball satellite and the data receiving point can be calculated, and the relay signal transmitting power of the ball satellite can be calculated. The relay signal transmitting power requirement of the spherical satellite can be accurately calculated through the formula, and the data is forwarded to the lunar user after the relay signal transmitting power of the spherical satellite is set, so that the lunar data receiving point can be ensured to successfully receive the relay data.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A full-autonomous lunar navigation and data communication method based on spherical satellites is characterized in that,
the method comprises the following steps:
step S1: the method comprises the following steps that a ring-moon circular orbit is adopted as a constellation operation orbit, the orbit height is in the range of 2000 km-5000 km, the constellation operation orbit comprises a plurality of orbit surfaces, the rising points of the orbit surfaces are uniformly distributed along the equator of a moon, a plurality of spherical satellites are uniformly distributed on each orbit surface, the plurality of spherical satellites form a moon navigation and data communication constellation, and each spherical satellite is provided with a navigation signal transmitter, a data transponder and an inter-satellite distance measuring instrument;
step S2: acquiring the initial position and the initial speed of each spherical satellite in a lunar navigation and data communication constellation;
step S3: inverting earth-moon space dynamics model parameters and the initial position and the initial speed of each spherical satellite based on inter-satellite distance measurement information between the spherical satellites, and performing constellation ephemeris forecast by taking the acquired initial position and the acquired initial speed of each spherical satellite as input conditions;
step S4: measuring the distance between the lunar user at any moment and a plurality of satellites observed by the lunar user, and solving to obtain the spatial position of the lunar user at the moment based on the measured distance value;
step S5: the method comprises the steps of obtaining lunar data communication transmitting point coordinates, lunar receiving point coordinates and spatial position distribution of a current lunar navigation and data communication constellation, planning a data communication link of the lunar transmitting point-spherical satellite-lunar receiving point, and achieving data transmission of any two points of the lunar surface.
2. The method for global satellite based fully autonomous lunar navigation and data communication according to claim 1,
the step S3 includes the steps of:
step S31: establishing a relational expression between the inter-satellite distance and the inter-satellite distance change rate of any two spherical satellites and the earth-moon space dynamic model parameters;
step S32: measuring by using an inter-satellite distance measuring instrument to obtain the inter-satellite distance and the inter-satellite distance change rate between any two spherical satellites;
step S33: jointly solving to obtain earth-moon space dynamic model parameters and an initial state correction value of the spherical satellite based on the relational expression and the measurement result;
step S34: and repeating the steps S31-S33 at intervals to obtain the latest earth-moon space dynamic model parameters and the initial position and the initial velocity of each ball satellite, and performing constellation ephemeris forecast by using the latest earth-moon space dynamic model parameters and the initial position and the initial velocity of each ball satellite.
3. The method for global satellite based fully autonomous lunar navigation and data communication according to claim 1,
the step S1 further includes the steps of:
and continuously iterating and optimizing the constellation configuration parameters by taking reduction of the spatial position precision factor and improvement of the lunar surface coverage as design targets.
4. The method for global satellite based fully autonomous lunar navigation and data communication according to claim 3,
the lunar surface coverage refers to that at least four satellites can be observed at any point in the lunar surface at any time;
the spatial position accuracy factor is obtained by the following steps:
assuming that there are N satellites in the constellation, the elevation and azimuth of the lunar user with respect to these satellites are θu→s,i、αu→s,i，i＝1,2,...,N；
Defining a geometric matrix G and a weight system matrix H:
Figure FDA0003057743940000021
H＝(GTG)-1
the spatial position accuracy factor is
Figure FDA0003057743940000022
Wherein h is11、h22、h33Representing the first three diagonal elements of the weight system matrix H.
5. The method for global satellite based fully autonomous lunar navigation and data communication according to claim 4,
the process of solving the spatial position of the lunar user in step S4 specifically includes the following steps:
step S41: establishing a distance calculation expression between a lunar user and a spherical satellite;
step S42: measuring the distance between the lunar user and at least four satellites observed by the lunar user at any moment;
step S43: and jointly solving to obtain the spatial position of the lunar user based on the computational expression and the distance measurement result.
6. The method for global satellite based fully autonomous lunar navigation and data communication according to claim 5,
in step S42, the distance between the lunar user and the spherical satellite at any time is obtained by measuring the pseudo-range, the carrier phase, or the doppler shift of the lunar user receiver.
7. The method for global satellite based fully autonomous lunar navigation and data communication according to claim 1,
the step S4 further includes the following steps:
and setting the navigation signal transmitting power of the spherical satellite.
8. The method for global satellite based fully autonomous lunar navigation and data communication according to claim 7,
the step S5 further includes the following steps before the data transmission between any two points of the moon is performed:
and setting the relay signal transmitting power of the spherical satellite.
9. The method for global satellite based fully autonomous lunar navigation and data communication according to claim 8,
calculating the navigation signal transmission power or the relay signal transmission power of the ball satellite based on the following formula:
Figure FDA0003057743940000041
wherein, PTTransmitting power of a relay signal or a navigation signal for a spherical satellite, PRFor lunar user antenna reception sensitivity, GTGain for spherical satellite signal transmission, GRFor lunar user antenna reception gain, λ is the relay signal wavelength or the navigation signal wavelength, and d is the distance between the lunar satellite and the lunar user.
10. The method for global satellite based fully autonomous lunar navigation and data communication according to claim 1,
the initial position and initial state of each ball satellite are obtained by ground-based radio measurement in step S2.
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