CN108460176A - A method of it improving satellite orbit perturbation power model and indicates precision - Google Patents
A method of it improving satellite orbit perturbation power model and indicates precision Download PDFInfo
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Abstract
The invention discloses a kind of methods that raising satellite orbit perturbation power model indicates precision, including by satellite orbit perturbation power model gravity model, uncertain perturbative force model and high frequency perturbative force noise；Satellite actual trajcctorics are divided into three parts；Obtain the satellite orbit perturbation deviation caused by uncertain perturbative force model and high frequency perturbative force noise；Establish the wavelet basis function model of satellite orbit perturbation deviation；Satellite orbit perturbation residual error is obtained, the steady auto-regressive time series parameter model of satellite orbit perturbation residual error is established；Realize the parameter identification and precise orbit determination of satellite orbit perturbation power model.The present invention to satellite orbit perturbation power model by carrying out classification expression, reduce the parameter to be estimated of satellite orbit perturbation power model, improve the computational efficiency of orbit determination, uncertain perturbative force model and high frequency perturbative force noise effectively in identification satellite orbit perturbation power model simultaneously, the expression precision of satellite orbit perturbation power is improved, and then improves satellite orbit and determines precision.
Description
Technical field
The present invention relates to satellite technology fields, and essence is indicated more specifically to a kind of raising satellite orbit perturbation power model
The method of degree.
Background technology
Precision orbit determination is to survey rail data using a large amount of, in conjunction with satellite orbit perturbation power model, by using suitable
Non-linear parameter estimation method, to obtain the process of satellite orbit parameter.The process includes three modeling process：State mould
The structure of type, the structure of observation model and the structure for estimating model.Therefore precision orbit determination problem can be summarized as more than one
The Non-linear parameter estimation problem of the more structures of model.
State model, i.e. satellite orbit perturbation power model, accuracy directly affect Satellite Orbit Determination precision.Then, exist
When being built to satellitosis model, since the in-orbit environment of satellite is complicated, causes satellite perturbance motion power model complicated, be related to
Parameter is more and is unable to get with stronger randomness and scrambling it is difficult to carry out accurate model and parameter expression to it
Its stringent analytic solutions；In addition, complicated model also results in, orbit determination is computationally intensive, these can influence the orbit determination essence of satellite
Degree.
For satellite orbit perturbation power physical model or its parameter cannot completely specified perturbative force part, existing method one
As its perturbative force modeling error is compensated or is corrected using experience acceleration, such as experience acceleration can be assumed to be Piecewise Constant
Value or single order Gauss-Markov random processes absorb satellite orbit perturbation power model error, but existing satellite orbit perturbation
Force compensating method is generally based on artificial experience and it is assumed that this will also greatly increase number of parameters to be estimated, and easy change orbit determination
The condition of normal equation coefficient matrix influences Satellite Orbit Determination precision.
Invention content
The technical problem to be solved by the present invention is to：A kind of side of raising satellite orbit perturbation power model expression precision is provided
Method.
The solution that the present invention solves its technical problem is：
A method of it improving satellite orbit perturbation power model and indicates precision, the satellite is the artificial satellite of near-earth, packet
Include following steps：
Satellite orbit perturbation power model is divided into three classes by step 1., respectively can Accurate Model gravity model, uncertain
Property perturbative force model and high frequency perturbative force noise, wherein the gravity model includes earth particle gravitation, low order earth aspheric
Shape gravitation and lunisolar attraction, the uncertainty perturbative force model includes the aspherical gravitation of the high-order earth, atmospheric drag, the sun
It can light pressure, earth tide power and terrestrial radiation pressure；
Satellite actual trajcctorics are divided into three parts, respectively drawn by step 2. according to the classification of satellite orbit perturbation power model
What the second track and high frequency perturbative force noise for the first track, uncertain perturbative force model generation that power model generates generated
Third track；
Step 3. obtains the satellite orbit perturbation deviation caused by uncertain perturbative force model and high frequency perturbative force noise；
Step 4. uses Algorithms of Wavelet Analysis, establishes the wavelet basis function model of satellite orbit perturbation deviation；
Step 5. indicates satellite orbit perturbation deviation using wavelet basis function model, obtains satellite orbit perturbation residual error, base
In time series modeling algorithm, the steady auto-regressive time series parameter model of satellite orbit perturbation residual error is established；
Step 6. is taken the photograph in conjunction with the gravity model, the wavelet basis function model of satellite orbit perturbation deviation and satellite orbit
The steady auto-regressive time series parameter model of dynamic residual error realizes satellite orbit perturbation power mould using precision orbit determination algorithm
The parameter identification and precise orbit determination of type.
As a further improvement of the above technical scheme, the model of satellite orbit perturbation power described in step 1 such as 1 institute of expression formula
Show,WhereinFor the satellite actual trajcctorics of t moment, x (t), y (t), z
(t),The respectively position and speed three-component of the satellite actual trajcctorics of t moment, F (X (t), t)
For the satellite orbit perturbation power model of t moment, FA(x (t), t) be t moment can Accurate Model gravity model, FB(x(t),t)
For the uncertain perturbative force model of t moment, FC(x (t), t) is the high frequency perturbative force noise of t moment.
As a further improvement of the above technical scheme, satellite actual trajcctorics described in step 2 is as shown in expression formula 2, X
(t)=XA(FA,t)+XB(FB,t)+XC(FC, t), wherein XA(FA, t) be can Accurate Model gravity model generate track, XB
(FB, t) and it is the track that uncertain perturbative force model generates, XC(FC, t) and it is the track that high frequency perturbative force noise generates.
As a further improvement of the above technical scheme, wavelet basis function model described in step 4 is as shown in expression formula 3,Wherein NBFor Decomposition order, βi(i=1,2 ..., NB) it is that model indicates
Parameter, ψi(t) (i=1,2 ..., NB) be different decomposition on wavelet basis function.
As a further improvement of the above technical scheme, the steady autoregression of satellite orbit perturbation residual error described in step 5
Time Series Parameter Model as shown in expression formula 4,Wherein p is certainly
The exponent number of regression time series model,For auto-regressive parameter, ε (t) is the Gauss white noise of zero-mean
Sound, variance are
As a further improvement of the above technical scheme, the orbit parameter of the satellite is as follows, terrestrial equator radius Re=
6.378×106M, satellite orbit major semiaxis a=7865km, eccentric ratio e=0.000572, i=50.04 ° of orbit inclination angle rise and hand over
Point right ascension Ω=220.05 °, argument of pericentre ω=339.8 °, flat M=84.8 ° of pericenter angle.
As a further improvement of the above technical scheme, the wavelet basis function of satellite orbit perturbation deviation described in step 4
Wavelet basis function in model is symlet8 functions.
As a further improvement of the above technical scheme, the step 6 comprises the following steps：
Step 61. sets the radar angle measurement and distance measuring method of 6 ground control stations, and angle measurement random error 10 ", ranging is random
Error 5m, sampling interval 0.1min observe duration 48h, generate and all survey rail data；
Step 62. using the wavelet basis function model of the satellite orbit perturbation deviation, satellite orbit perturbation residual error it is flat
Steady auto-regressive time series parameter model in satellite orbit determination process, while solving small in conjunction with precision orbit determination principle
The auto-regressive parameter and satellite orbit parameter of the expression parameter of wave basic function model, steady auto-regressive time series model；
Step 63. realizes that satellite orbit is taken the photograph using the survey rail data of each ground control station using precision orbit determination algorithm
The parameter identification and precise orbit determination of dynamic model.
The beneficial effects of the invention are as follows：The present invention by carrying out classification expression to satellite orbit perturbation power model, defend by reduction
The parameter to be estimated of star Orbit perturbation model improves the computational efficiency of orbit determination, while effectively identification satellite orbit perturbation power model
In uncertain perturbative force model and high frequency perturbative force noise, improve satellite orbit perturbation power expression precision, and then improve
Satellite orbit determines precision.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described.Obviously, described attached drawing is a part of the embodiment of the present invention, rather than is all implemented
Example, those skilled in the art without creative efforts, can also be obtained according to these attached drawings other designs
Scheme and attached drawing.
Fig. 1 be satellite actual trajcctorics can be under the perturbative force model effect of Accurate Model satellite orbit perturbation differential location
X durection component figures；
Fig. 2 be satellite actual trajcctorics can be under the perturbative force model effect of Accurate Model satellite orbit perturbation tolerance speed
X durection component figures；
Fig. 3 is the trend term diagram (left side) of the satellite orbit perturbation deviation under different wavelet decomposition scales and corresponding details item
Scheme on (right side)；
Fig. 4 is satellite orbit perturbation autocorrelation of residuals function (left side) and deviation―related function (right side)；
Fig. 5 is the method flow diagram of the invention.
Specific implementation mode
The technique effect of the design of the present invention, concrete structure and generation is carried out below with reference to embodiment and attached drawing clear
Chu, complete description, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair
Bright a part of the embodiment, rather than whole embodiments, based on the embodiment of the present invention, those skilled in the art are not being paid
The other embodiment obtained under the premise of creative work, belongs to the scope of protection of the invention.
Referring to Fig.1~Fig. 5, the invention disclose a kind of side of raising satellite orbit perturbation power model expression precision
Method, the satellite are the artificial satellites of near-earth, are included the following steps：
Satellite orbit perturbation power model is divided into three classes by step 1., respectively can Accurate Model gravity model, uncertain
Property perturbative force model and high frequency perturbative force noise, wherein the gravity model includes earth particle gravitation, low order earth aspheric
Shape gravitation and lunisolar attraction, the uncertainty perturbative force model includes the aspherical gravitation of the high-order earth, atmospheric drag, the sun
It can light pressure, earth tide power and terrestrial radiation pressure；
Satellite actual trajcctorics are divided into three parts, respectively drawn by step 2. according to the classification of satellite orbit perturbation power model
What the second track and high frequency perturbative force noise for the first track, uncertain perturbative force model generation that power model generates generated
Third track；
Step 3. obtains the satellite orbit perturbation deviation caused by uncertain perturbative force model and high frequency perturbative force noise；
Step 4. uses Algorithms of Wavelet Analysis, establishes the wavelet basis function model of satellite orbit perturbation deviation；
Step 5. indicates satellite orbit perturbation deviation using wavelet basis function model, obtains satellite orbit perturbation residual error, base
In time series modeling algorithm, the steady auto-regressive time series parameter model of satellite orbit perturbation residual error is established；
Step 6. is taken the photograph in conjunction with the gravity model, the wavelet basis function model of satellite orbit perturbation deviation and satellite orbit
The steady auto-regressive time series parameter model of dynamic residual error realizes satellite orbit perturbation power mould using precision orbit determination algorithm
The parameter identification and precise orbit determination of type.
Specifically, the present invention reduces satellite orbit perturbation power by carrying out classification expression to satellite orbit perturbation power model
The parameter to be estimated of model improves the computational efficiency of orbit determination, while the uncertainty effectively in identification satellite orbit perturbation power model
Perturbative force model and high frequency perturbative force noise improve the expression precision of satellite orbit perturbation power, and then improve satellite orbit and determine
Precision.
It is further used as preferred embodiment, in the invention concrete mode, satellite orbit perturbation power described in step 1
Model as shown in expression formula 1,Its
InFor the satellite actual trajcctorics of t moment, x (t), y (t),
Z (t),The respectively position and speed three-component of the satellite actual trajcctorics of t moment, F (X (t), t)
For the satellite orbit perturbation power model of t moment, FA(x (t), t) be t moment can Accurate Model gravity model, FB(x(t),t)
For the uncertain perturbative force model of t moment, FC(x (t), t) is the high frequency perturbative force noise of t moment.
It is further used as preferred embodiment, in the invention concrete mode, satellite actual trajcctorics described in step 2
As shown in expression formula 2, X (t)=XA(FA,t)+XB(FB,t)+XC(FC, t), wherein XA(FA, t) be can Accurate Model gravitation mould
The track that type generates, XB(FB, t) and it is the track that uncertain perturbative force model generates, XC(FC, t) and it is that high frequency perturbative force noise produces
Raw track.
It is further used as preferred embodiment, in the invention concrete mode, wavelet basis function mould described in step 4
Type as shown in expression formula 3,Wherein NBFor Decomposition order, βi(i=1,
2,…,NB) it is model expression parameter, ψi(t) (i=1,2 ..., NB) be different decomposition on wavelet basis function.
It is further used as preferred embodiment, in the invention concrete mode, satellite orbit perturbation described in step 5
The steady auto-regressive time series parameter model of residual error as shown in expression formula 4,Wherein p is certainly
The exponent number of regression time series model,For auto-regressive parameter, ε (t) is the Gauss white noise of zero-mean
Sound, variance are
It is further used as preferred embodiment, in the invention concrete mode, the orbit parameter of the satellite is as follows,
Terrestrial equator radius Re=6.378 × 106M, satellite orbit major semiaxis a=7865km, eccentric ratio e=0.000572, orbit inclination angle
I=50.04 °, right ascension of ascending node Ω=220.05 °, argument of pericentre ω=339.8 °, flat M=84.8 ° of pericenter angle.
It is further used as preferred embodiment, in the invention concrete mode, satellite orbit perturbation described in step 4
Wavelet basis function in the wavelet basis function model of deviation is symlet8 functions.
It is further used as preferred embodiment, in the invention concrete mode, the step 6 comprises the following steps：
Step 61. sets the radar angle measurement and distance measuring method of 6 ground control stations, and angle measurement random error 10 ", ranging is random
Error 5m, sampling interval 0.1min observe duration 48h, generate and all survey rail data；
Step 62. using the wavelet basis function model of the satellite orbit perturbation deviation, satellite orbit perturbation residual error it is flat
Steady auto-regressive time series parameter model in satellite orbit determination process, while solving small in conjunction with precision orbit determination principle
The auto-regressive parameter and satellite orbit parameter of the expression parameter of wave basic function model, steady auto-regressive time series model；
Step 63. realizes that satellite orbit is taken the photograph using the survey rail data of each ground control station using precision orbit determination algorithm
The parameter identification and precise orbit determination of dynamic model.
Herein for one specifically embodiment the invention is illustrated.
In the present embodiment, the orbit parameter of satellite is as follows, terrestrial equator radius Re=6.378 × 106M, satellite orbit length half
Axis a=7865km, eccentric ratio e=0.000572, i=50.04 ° of orbit inclination angle, right ascension of ascending node Ω=220.05 °, pericenter
Argument ω=339.8 °, flat M=84.8 ° of pericenter angle, in conjunction with satellite orbit whole perturbative force model (including earth gravitational field
100 × 100 models of JGM, lunisolar attraction, atmospheric drag, solar light pressure, earth tide power, terrestrial radiation pressure), generate satellite
Actual trajcctorics X (t)；
Using in satellite orbit perturbation power model can Accurate Model gravity model (including earth gravitational field JGM 8 × 8
Model, lunisolar attraction), satellite orbit that can be under the gravity model effect of Accurate Model is generated, and satellite orbit is thus obtained and takes the photograph
Dynamic deviation, as depicted in figs. 1 and 2.
To obtained satellite orbit perturbation deviation, using symlet8 wavelet basis functions, using the data based on wavelet transformation
Feature extraction algorithm obtains the trend term under satellite orbit perturbation deviation different decomposition layer and details item, as shown in Figure 3.By
The stationary test of details item determines the final Decomposition order of wavelet transformation, NB=8, and then determine satellite orbit perturbation deviation
Wavelet basis function parameter model as shown in expression formula 5,Wherein ψi(t) (i=1,2 ..., 8) it is right
The wavelet basis function answered is symlet8 functions.
To the details item after wavelet decomposition, correlation analysis is carried out, satellite orbit perturbation autocorrelation of residuals function is obtained
And deviation―related function, as shown in Figure 4.According to the characteristic of auto-correlation function and deviation―related function, steady autoregression time sequence is determined
The exponent number of row parameter model, p=3, and then obtain the steady auto-regressive time series parameter model of satellite orbit perturbation residual error such as
Shown in expression formula 6,
Using the satellite orbit perturbation power model after classification model construction, rail data are surveyed in conjunction with satellite, utilize precision orbit determination
Principle, during satellite orbit determines, while the model for solving wavelet basis function indicates coefficient, steady autoregression time sequence
The auto-regressive parameter and satellite orbit parameter of row model；
Using the radar angle measurement and distance measuring method generation survey rail data of 6 ground control stations, wherein：Angle measurement random error
10 ", ranging random error 5m, sampling interval 0.1min, observation duration 48h.
Rail data are surveyed using the earth station of emulation, the classification without satellite orbit perturbation power model indicates, utilizes satellite
The sorting parameterization of Orbit perturbation model indicates that obtained Satellite Orbit Determination results contrast is shown in Table 1.
As it can be seen from table 1 after the sorting parameterization of satellite orbit perturbation power model indicates, Satellite Orbit Determination precision carries
High by 28% or more, computational efficiency improves 30% or more.
The better embodiment of the present invention is illustrated above, but the invention is not limited to the implementation
Example, those skilled in the art can also make various equivalent modifications or be replaced under the premise of without prejudice to spirit of that invention
It changes, these equivalent modifications or replacement are all contained in the application claim limited range.
Claims (8)
1. a kind of method for improving satellite orbit perturbation power model and indicating precision, the satellite is the artificial satellite of near-earth, special
Sign is, includes the following steps：
Satellite orbit perturbation power model is divided into three classes by step 1., respectively can the gravity model of Accurate Model, uncertainty take the photograph
Dynamic model and high frequency perturbative force noise, draw wherein the gravity model includes earth particle gravitation, the low order earth is aspherical
Power and lunisolar attraction, the uncertainty perturbative force model includes the aspherical gravitation of the high-order earth, atmospheric drag, solar energy
Pressure, earth tide power and terrestrial radiation pressure；
Satellite actual trajcctorics are divided into three parts, respectively gravitation mould by step 2. according to the classification of satellite orbit perturbation power model
The third of the first track, the second track that uncertain perturbative force model generates and the generation of high frequency perturbative force noise that type generates
Track；
Step 3. obtains the satellite orbit perturbation deviation caused by uncertain perturbative force model and high frequency perturbative force noise；
Step 4. uses Algorithms of Wavelet Analysis, establishes the wavelet basis function model of satellite orbit perturbation deviation；
Step 5. indicates satellite orbit perturbation deviation using wavelet basis function model, obtains satellite orbit perturbation residual error, when being based on
Between Series Modeling algorithm, establish the steady auto-regressive time series parameter model of satellite orbit perturbation residual error；
Step 6. is residual in conjunction with the gravity model, the wavelet basis function model of satellite orbit perturbation deviation and satellite orbit perturbation
The steady auto-regressive time series parameter model of difference realizes satellite orbit perturbation power model using precision orbit determination algorithm
Parameter identification and precise orbit determination.
2. a kind of method for improving satellite orbit perturbation power model and indicating precision according to claim 1, which is characterized in that
The model of satellite orbit perturbation power described in step 1 as shown in expression formula 1,Wherein X (t)=(x (t), y (t),
z(t),For the satellite actual trajcctorics of t moment, x (t), y (t), z (t),
The respectively position and speed three-component of the satellite actual trajcctorics of t moment, F (X (t), t) are the satellite orbit perturbation power of t moment
Model, FA(x (t), t) be t moment can Accurate Model gravity model, FB(x (t), t) is the uncertain perturbative force of t moment
Model, FC(x (t), t) is the high frequency perturbative force noise of t moment.
3. a kind of method for improving satellite orbit perturbation power model and indicating precision according to claim 2, which is characterized in that
Satellite actual trajcctorics described in step 2 is as shown in expression formula 2, X (t)=XA(FA,t)+XB(FB,t)+XC(FC, t), wherein XA(FA,
T) be can Accurate Model gravity model generate track, XB(FB, t) and it is the track that uncertain perturbative force model generates, XC
(FC, t) and it is the track that high frequency perturbative force noise generates.
4. a kind of method for improving satellite orbit perturbation power model and indicating precision according to claim 3, which is characterized in that
Wavelet basis function model described in step 4 as shown in expression formula 3,Its
Middle NBFor Decomposition order, βi(i=1,2 ..., NB) it is model expression parameter, ψi(t) (i=1,2 ..., NB) it is in different decomposition
Wavelet basis function.
5. a kind of method for improving satellite orbit perturbation power model and indicating precision according to claim 4, which is characterized in that
The steady auto-regressive time series parameter model of satellite orbit perturbation residual error described in step 5 as shown in expression formula 4,
Wherein p is the exponent number of auto-regressive time series model,(i=1,2 ..., p) is auto-regressive parameter, and ε (t) is zero-mean
White Gaussian noise, variance is
6. a kind of method for improving satellite orbit perturbation power model and indicating precision according to claim 5, which is characterized in that
The orbit parameter of the satellite is as follows, terrestrial equator radius Re=6.378 × 106M, satellite orbit major semiaxis a=7865km, partially
Heart rate e=0.000572, i=50.04 ° of orbit inclination angle, right ascension of ascending node Ω=220.05 °, argument of pericentre ω=339.8 °,
Flat M=84.8 ° of pericenter angle.
7. a kind of method for improving satellite orbit perturbation power model and indicating precision according to claim 6, which is characterized in that
Wavelet basis function in the wavelet basis function model of satellite orbit perturbation deviation described in step 4 is symlet8 functions.
8. a kind of method for improving satellite orbit perturbation power model and indicating precision according to claim 7, which is characterized in that
The step 6 comprises the following steps：
Step 61. sets the radar angle measurement and distance measuring method of 6 ground control stations, angle measurement random error 10 ", ranging random error
5m, sampling interval 0.1min observe duration 48h, generate and all survey rail data；
Step 62. using the wavelet basis function model of the satellite orbit perturbation deviation, satellite orbit perturbation residual error it is steady from
Regression time series parameter model in satellite orbit determination process, while solving wavelet basis in conjunction with precision orbit determination principle
The auto-regressive parameter and satellite orbit parameter of the expression parameter of function model, steady auto-regressive time series model；
Step 63. realizes satellite orbit perturbation power using the survey rail data of each ground control station using precision orbit determination algorithm
The parameter identification and precise orbit determination of model.
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| CN110429974A (en) * | 2019-08-07 | 2019-11-08 | 清华大学 | Rapid alignment method and device based on regression orbit constellation |
| CN111259604A (en) * | 2020-01-16 | 2020-06-09 | 中国科学院空间应用工程与技术中心 | High orbit satellite light pressure model identification method and system based on machine learning |
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| CN113866732B (en) * | 2021-09-26 | 2024-05-17 | 中国西安卫星测控中心 | Calculation method for short-arc rail measurement capability of single-part radar |
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| CN109470266A (en) * | 2018-11-02 | 2019-03-15 | 佛山科学技术学院 | A kind of star sensor Gyro method for determining posture handling multiplicative noise |
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| CN110429974B (en) * | 2019-08-07 | 2020-05-12 | 清华大学 | Fast alignment method and device based on regression orbit constellation |
| CN111259604A (en) * | 2020-01-16 | 2020-06-09 | 中国科学院空间应用工程与技术中心 | High orbit satellite light pressure model identification method and system based on machine learning |
| CN112389679A (en) * | 2020-11-03 | 2021-02-23 | 西北工业大学 | Moonlet constant thrust orbit recursion method considering multiple perturbation forces |
| CN113641949A (en) * | 2021-08-05 | 2021-11-12 | 中国西安卫星测控中心 | High-precision fitting method for number of orbits in geosynchronous transfer section |
| CN113866732B (en) * | 2021-09-26 | 2024-05-17 | 中国西安卫星测控中心 | Calculation method for short-arc rail measurement capability of single-part radar |
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