CN109752744A - Multi-satellite combined orbit determination method based on model error compensation - Google Patents
Multi-satellite combined orbit determination method based on model error compensation Download PDFInfo
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Abstract
The invention relates to the field of satellite orbit determination, in particular to a multi-satellite combined orbit determination method based on model error compensation, which comprises the following steps: establishing a primary multi-satellite combined orbit determination equation of the target satellite according to a dynamic model of a satellite group and the target satellite of the space-based measurement and control network and observation models of the foundation measurement and control network and the space-based measurement and control network; acquiring an orbit calculation value of a target satellite according to a primary multi-satellite combined orbit determination equation, and acquiring an OC residual error by combining an orbit observation value of the target satellite; respectively establishing an error compensation item of a dynamic model and an error compensation item of an observation model by determining an error source corresponding to the OC residual error; and establishing an earth-ground multi-satellite combined orbit determination equation of the target satellite according to the primary multi-satellite combined orbit determination equation and the error compensation terms of the dynamic model and the observation model. The invention utilizes the space and foundation combined orbit determination strategy and compensates errors of two types of models, namely a dynamic model, an observation model and the like, thereby improving the orbit determination precision of the target satellite.
Description
Technical field
The present invention relates to satellite track field more particularly to a kind of multi satellites joint orbit determination sides based on Compensation for Model Errors
Method.
Background technique
Its ground joint orbit determination is to comprehensively utilize the information of space-based TT & C network, space network and ground tracking and command network to space-based satellite and ground
The process of satellite combined determination of satellite orbit is not only local ground based observa tion to the constraint of space-based satellite, there are also the data of Space borne detection, this
On the one hand sample improves the coverage rate of track, more efficiently constrained objective track using Tianhuangping pumped storage plant data, on the other hand,
Space-based satellite estimation track and target satellite estimation track can reach optimum balance in day ground observing and controlling information, theoretically may be used
To obtain the higher space-based satellite track of estimated accuracy and extraterrestrial target track.
Determine principle from track, track determination be largely from the survey rail data containing satellite-orbit information according to
The process of the constraint condition reconstruct satellite orbit of dynamical model.
In track determines, the kinematics track that observation model determines ensure that uniqueness of the track condition on airspace,
And the dynamics track that kinetic model determines ensure that the continuous and slickness of track condition in the time domain.When there is no systematicness
When deviation, kinematics track and dynamics track are to be overlapped at moment epoch of observation, estimation track be uniquely be also optimal
, but when kinetic model or observation model are there are when model error, the kinematics track and dynamics track of generation will no longer
It is overlapped, estimation track can only determine under certain criterion, rationally be approached in observation model and kinetic model.
Model error, which becomes, restricts one of the key factor that Satellite Orbit Determination precision improves, and many scholars are from hardware and software two
Aspect conducts in-depth research.China compensates upper and developed countries in hardware model and still has certain gap, using number
Learning processing means and making up the deficiency of hard ware measure at this stage is the current major way for improving orbit determination accuracy.
Orbit determination accuracy can preferably be improved by being compensated with mathematical processing methods to Dynamic model error, this is to make up firmly
The insufficient important way of part technological level.But the research work of current this aspect is mainly in Dynamic model error and error
The fixed situation of distribution pattern.And the research about observation model error is relatively fewer, and simultaneously to kinetic model and observation
The research that model carries out Compensation for Model Errors is then less common.Due to Dynamic model error and observation model error in track determination
Function and effect it is different, therefore how the corresponding compensation way of sort research is fundamentally to solve the problems, such as Compensation for Model Errors
It is crucial.
Summary of the invention
The embodiment of the present invention provides a kind of multi satellites joint orbit determination method and device based on Compensation for Model Errors, realize day,
Ground joint observing and controlling orbit determination, and the two level classification of binding kinetics model and observation model construct corresponding compensation method, it is right
Uncertainty models error compensates in target satellite orbit equation.
In order to achieve the above objectives, the embodiment of the invention provides a kind of multi satellites joint orbit determination side based on Compensation for Model Errors
Method, which comprises
According to the kinetic model and ground tracking and command network and space-based TT & C network, space network of space-based TT & C network, space network satellite group and target satellite
Observation model, establish the primary multi satellites joint orbit determination equation of target satellite；
According to primary multi satellites joint orbit determination equation, the orbit computation value of target satellite, and the rail of combining target satellite are obtained
Road observation obtains the difference of orbit observation value and orbit computation value, i.e. OC residual error；
By the frequency spectrum corresponding relationship of OC residual error and OC residual error and Dynamic model error source and observation model error source,
The error of the error compensation item and observation model that determine the corresponding error source of OC residual error, and establish kinetic model respectively accordingly is mended
Repay item；
According to primary multi satellites joint orbit determination equation and the error compensation item of kinetic model and observation model, target is established
The world base multi satellites joint orbit determination equation of satellite；
Using non-linear multi-model optimal estimation method, the world base multi satellites joint orbit determination of the target satellite is determined
The optimal trajectory parameter of equation.
Compared with prior art, above-mentioned technical proposal has the following beneficial effects:
The present invention combines orbit determination and is extended to the mobile survey station of day ground, improves the robustness of entire tracking system and reliable
Property.The deficiency that ground observing and controlling is made up with day ground measuring and control data inhibits space-based satellite ephemeris error to defend target with joint orbit determination
The influence of star orbit determination accuracy makes up the deficiency of kinetic model and observation model with model compensation, is divided into according to model structure dynamic
Mechanical model and observation model, and disaggregated model error compensation plan is carried out according to two aspects of kinetic model and observation model
Slightly, it can act on for different models, be compensated according to dynamics track and geometry Path Decomposition, to improve target satellite
Orbit determination accuracy provide advantageous technical support.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the multi satellites joint orbit determination method flow chart of the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, a kind of multi satellites joint orbit determination method based on Compensation for Model Errors provided by the invention, comprising:
101, it is surveyed according to the kinetic model and ground tracking and command network of space-based TT & C network, space network satellite group and target satellite and space-based
The observation model for controlling net, establishes the primary multi satellites joint orbit determination equation of target satellite；
102, according to primary multi satellites joint orbit determination equation, the orbit computation value of target satellite, and combining target satellite are obtained
Orbit observation value, obtain the difference of orbit observation value and orbit computation value, i.e. OC residual error；
103, corresponding with the frequency spectrum in Dynamic model error source and observation model error source by OC residual error and OC residual error
Relationship determines the corresponding error source of OC residual error, and establishes the error compensation item and observation model of kinetic model respectively accordingly
Error compensation item；
104, according to primary multi satellites joint orbit determination equation and the Compensation for Model Errors item of kinetic model and observation model,
Establish the world base multi satellites joint orbit determination equation of target satellite；
105, using non-linear multi-model optimal estimation method, the world base multi satellites joint of the target satellite is determined
The optimal trajectory parameter of orbit determination equation.
Specifically, using space-based TT & C network, space network satellite group and target satellite group as orbit determination target, integrated application ground tracking and command network and
The observation data of space-based TT & C network, space network construct unified multi satellites joint orbit determination frame using the thinking of physical analysis, mathematical modeling, i.e.,
Primary multi satellites joint orbit determination equation, and using the track OC residual error of target satellite, from two layers of kinetic model and observation model
Face, classification construct corresponding compensation method, compensate to model error；On this basis, in conjunction with primary multi satellites joint orbit determination
The Compensation for Model Errors item of equation and kinetic model and observation model constructs the world base multi satellites joint orbit determination of target satellite
Equation, and by non-linear multi-model optimal estimation method, obtain final more star orbit determination equation optimized parameters estimation knot
Fruit provides strong technical support to establish the autonomous world multi satellites joint tracking system in China.
Further, described to pass through OC residual error and OC residual error and Dynamic model error source and observation model error source
Frequency spectrum corresponding relationship, determine the corresponding error source of OC residual error, comprising:
According to OC residual error the continuous segmental arc the characteristics of, the basic function of OC residual signals is established in the time domain；
According to the basic function, using the multi-scale effect of wavelet transformation, OC residual signals are successively resolved into high frequency division
Amount and low frequency component obtain different characteristic layer information；
The trend of the different characteristic layer information is decomposed, the frequency spectrum of different characteristic layer information is obtained；
According to the frequency spectrum of the different characteristic layer information and the frequency spectrum corresponding relationship, the different characteristic of OC residual error is determined
Error source corresponding to layer information.
OC residual error is the residual error of orbit observation value Yu orbit computation value, and the orbit computation value is by Satellite Orbit Determination principle
Estimate obtained orbit parameter, then works back in survey member, and then obtain orbit computation value；The orbit observation value is to pass through track
The output data that observation sensor obtains；Therefore OC residual error includes orbit information and observation data information.Kinetic model misses
Difference and observation model error also will be directly or indirectly embodied in OC residual error.Therefore, it by the analysis to OC residual error, can obtain
Dynamics of orbits model error characteristic and observation error characteristic.And since OC residual error is discrete time series, and observed
Segmental arc limitation, OC residual error are difficult to be made of continuous full arc section, often be made of some discrete short arc segments, in addition survey member, adopt
The difference at sample interval increases the analysis difficulty of OC residual error.Therefore the OC residual error feature under continuous segmental arc is analyzed first, in time domain
The signal that upper building basic function indicates.
Using the multi-scale effect of wavelet transformation, OC residual signals are successively resolved into high fdrequency component and low frequency component, are believed
Number property can be described with wavelet coefficient, to obtain the different characteristic layer information of signal.According to application demand, to wavelet coefficient
It is constrained, obtains the reconstruction signal of place to go noise, the trend of signal is decomposed, the spectral characteristic of error source is compareed, with
The OC residual error for obtaining corresponding error source indicates information.
Still further, the frequency spectrum according to the different characteristic layer information and the frequency spectrum corresponding relationship, really
Determine error source corresponding to the different characteristic layer of OC residual error, comprising:
Using the method for mathematical derivation and l-G simulation test, Dynamic model error source and observation model error source and OC are obtained
The frequency spectrum function corresponding relationship of residual error；
According to the frequency spectrum and the frequency spectrum function corresponding relationship of OC residual error different characteristic layer information, OC residual error is determined
Error source corresponding to different characteristic layer.
Can be obtained by the analysis of OC residual error influences maximum a few category feature layers to orbit determination result, but needs research characteristic
Error source corresponding to layer.It is corresponding the function between residual error frequency spectrum corresponding to error source can be directly obtained using mathematical derivation
Relationship, for that cannot directly obtain the frequency spectrum of functional relation, the mode that l-G simulation test can be used obtains numerical value corresponding relationship, then leads to
Over-fitting method constructor expression.
Still further, the corresponding error source of determination OC residual error, and establish the mistake of kinetic model respectively accordingly
The error compensation item of poor compensation term and observation model, comprising:
When the corresponding error source of main feature layer information of OC residual error is Dynamic model error source, kinetic simulation is established
The error compensation item of type；
When the corresponding error source of main feature layer information of OC residual error is observation model error source, observation model is established
Error compensation item；
When that can not determine main error source by OC residual error, OC residual error is decomposed by hybrid mode decomposition method,
And OC residual error is modified by controlling the overall error upper limit.
Theoretically, the residual error form of expression of kinetic model and observation model is different on frequency domain, when known
The spectral characteristic of certain class model error perhaps other similar prior information when can by wavelet method or Mode Decomposition into
The extraction of row details item.Therefore, residual error spectral characteristic is converted by model spectral characteristic, and is separated using suitable analysis method
Compensation technique when this category information is the key that model error coupling.
Still further, the error compensation item for establishing kinetic model, comprising:
According to track characteristic, the method combined by physical model and mathematical model, for cannot be used for kinetic simulation
The perturbative force of type modeling, is fitted the perturbative force founding mathematical models with basic function, and construction is indicated by the mathematical model accordingly
Perturbative force error compensation item；
According to the parameter accuracy of the requirement of orbit determination accuracy and kinetic model, constructed using greedy algorithm or interior-point algohnhm
The mathematical model that Sparse parameter indicates, the Compensation for Model Errors item as kinetic model；
According to perturbative force error compensation item and the Compensation for Model Errors item of kinetic model, the error of kinetic model is established
Compensation term, to correct the corresponding OC residual error in Dynamic model error source.
Uncertain Dynamic model error refers to perturbative force that is not yet recognizing or cannot modeling and model parameter not
Perturbative force error component caused by accurate.It is right first since satellite orbit is determining and forecast all relies on kinetic model
Kinetic model carries out modeling compensation deals.By the optimization and reconstruction to satellite orbit kinetic model, mentioned from track characteristic
It is taken into hand, the method combined using physical model and mathematical model, to the portion for being unable to accurate modeling in dynamical model
Divide and mathematical model is formed with basic function fitting；The characteristics of according to the requirement and perturbation model of orbit determination accuracy, using greedy algorithm or
Interior-point algohnhm searches out optimal Sparse parameter and indicates, establishes the mathematical notation model of dynamical model error；Based on defending
Star precise kinetic model, the mathematical model containing the dynamics perturbation model for needing to be estimated parameter and based on basic function expression, point
The hybrid dynamics model for not establishing the satellite orbit of multiple orbital attitudes and type, obtains the high-precision of dynamical model
It indicates.Since the expression form in track equation mechanical model and observation model is all reflected by residual error, two class model tables
Show that form can be coupled, therefore this part research contents is suitable for Dynamic model error much larger than observation model error
Situation.
Still further, the error compensation item for establishing observation model, comprising:
Uncertain observation system error is estimated using nonparametric methods in statistics, obtaining nonparametric indicates uncertain
Property Compensation for Model Errors function；
According to the deterministic system error compensation model of the uncertainty models error compensation function and observation model,
The error compensation item of observation model is established, to correct the corresponding OC residual error of observation model error source.
Uncertain observation error is primarily referred to as the systematic features of the observation system error and cognition not yet recognized
Residual error.Since model efficiency is different, the compensation method of uncertain observation model error and the compensation side of Dynamic model error
Method different from.In addition, also can not just obtain uncertain system error because being difficult to obtain the real trace of measuring and control data
Shape mode.For this purpose, constructing the ambiguous model error of nonparametric expression, the sight of incorporating parametric by Non-parameter modeling mode
Survey model and deterministic SYSTEM ERROR MODEL, unified component part linear model.By to Partial Linear Model estimation method
Research, complete estimation to uncertain observation error.Similarly, since coupling reason, this part content is suitable for observing mould
Type error is much larger than the situation of Dynamic model error.
Still further, described decompose OC residual error by hybrid mode decomposition method, and pass through control overall error
The upper limit is modified OC residual error, comprising:
OC residual error is converted on frequency domain, OC residual error is decomposed by Empirical mode decomposition according to prior information
The part of middle corresponding error source carries out OC residual GM by the corresponding error compensation item of the error source；
To the part that can not determine corresponding error source in OC residual error, pass through the adjustment and control overall error to experience power size
The mode of the upper limit is modified OC residual error.
This part is close mainly for Dynamic model error and observation model error and the case where coupling.Although two classes are missed
Difference coupling, but mixed signal is converted on frequency domain, and by certain prior information, utilize empirical mode decomposition skill
Art is expected to separate part coupling class error source.The key of the part be by mode decomposition technology to residual error at
Reason.It, can be to this kind by the decomposition to OC residual error when the form feature of certain known class model error or spectrum distribution
Error is eliminated in feature level, then compensates technology again.
Because all there is specific spectral characteristic and the regularity of distribution in every kind of error source, although being coupled in the time domain,
But it still can be decomposed on frequency domain.On the basis of OC residual error specificity analysis, by empirical mode decomposition method to OC
Residual signals are decomposed.Such as experience power in kinetic model, spectral characteristic, which effectively can decomposite, to be come.Specifically
The thinking that technical solution can be combined using theory deduction and l-G simulation test, can for the genuine property of Dynamic model error
To carry out assistant analysis using the data of CHAMP satellite accelerometers.
When no any prior information, Dynamic model error and observation model error are coupled by OC form
It is difficult to be effectively separated, i.e., can not determines bias degree of the estimation track between dynamics track and geometry track.However
When certain known class error source characteristic, when such as observation model systematic error form, two can be carried out by the adjustment to experience power size
It is compensated while kind model.But when a kind of model frequency spectrum known, OC residual error is obtained first with conventional method, then utilizes mixing
Mode Decomposition removes this feature, then carries out the compensation method of two kinds of models.
It is described using non-linear multi-model optimal estimation method further, determine the target satellite
The optimal trajectory parameter of world base multi satellites joint orbit determination equation, comprising:
Using the curvature of world base multi satellites joint orbit determination equation as quantitative criteria, world base multi satellites joint orbit determination equation is measured
The nonlinear degree and complexity of each model, according to the curvature of world base multi satellites joint orbit determination equation to world base multi satellites joint
Orbit determination equation is weighted processing；
Operations of Interva Constraint is carried out to the parameter to be estimated in the world base multi satellites joint orbit determination equation by restriction on the parameters method；
Optimal estimation is carried out to the parameter in the world base multi satellites joint orbit determination equation using Biased estimator method；
The parameter in the world base multi satellites joint orbit determination equation is advanced optimized and corrected by iterative method.
Specifically, on the basis of day ground observation model, kinetic model is extended, space-based satellite track and target are defended
Star orbital road is all used as track to be estimated, and forms world base multi satellites joint orbit determination equation.According to Dynamic model error and observation model
The specific gravity of error constructs corresponding model compensation item, is added in joint orbit determination equation.Curve matching kinetic model in order to prevent
Error function transition absorbing model error, so that track, which runs out of steam, learns the characteristic of equation, it is true that estimation track is biased to observation data
Fixed geometry track carries out Operations of Interva Constraint to the parameter to be estimated in model using restriction on the parameters method, especially to experience power itself
Size is monitored, and using one kind can characterize the inhibition of two class models (physical model and mathematical model) interpretability because
Son is added in orbit determination equation, so as to control model error item (mathematical model).Due in orbit determination equation, each
The nonlinear degree of model is different, and when direct solution can reduce solution to model and release ability, carries out asking for model curvature first thus
Solution weights the model explanation to be optimal to each class model march rate, improves orbit determination accuracy.To described world Quito
On the basis of star combines parameter the to be estimated progress Operations of Interva Constraint in orbit determination equation, by Biased estimator method to described world Quito star
Parameter in joint orbit determination equation carries out optimal estimation.In addition, orbit determination deviation caused by Biased estimator in order to prevent, will also carry out
Iterative processing, and study optimal iterative strategy.Finally, model structure analysis method and parameter estimation theories are based on, it is fixed to joint
Rail precision carries out quantificational description.
Although model compensation method has at home and abroad obtained in-depth study, it is mainly limited to kinetic model, or
Two kinds of models are mixed, meanwhile, natural mode is mainly used to the compensation of kinetic model.It is proposed by the present invention according to
Model structure is divided into kinetic model and observation model compensation policy, can act on for different models, according to dynamics rail
Road and geometry Path Decomposition compensate, while proposing anti-transition compensation policy, it was also proposed that when two kinds of model errors couplings
Compensation policy, this at home and abroad still belongs to the first time, and is one of characteristic of the invention and innovation.
The original intention of joint orbit determination is the influence in order to inhibit space-based satellite ephemeris error, and the present invention is extended to orbit determination is combined
Its ground moves survey station, improves the robustness and reliability of whole system.Ground observing and controlling is made up with day ground measuring and control data
Deficiency inhibits influence of the space-based satellite ephemeris error to target satellite orbit determination accuracy with joint orbit determination, is made up with model compensation dynamic
The deficiency of mechanical model and observation model.The invention proposes multi satellites joint orbit determination models based on model compensation and non-linear more
Model optimal estimation method uses model curvature weighting plan for model structure complexity in the parameter estimation process
Slightly, orbit determination accuracy is further improved, this is also characteristic and innovation of the invention.
It should be understood that the particular order or level of the step of during disclosed are the examples of illustrative methods.Based on setting
Count preference, it should be appreciated that in the process the step of particular order or level can be in the feelings for the protection scope for not departing from the disclosure
It is rearranged under condition.Appended claim to a method is not illustratively sequentially to give the element of various steps, and not
It is to be limited to the particular order or level.
In above-mentioned detailed description, various features are combined together in single embodiment, to simplify the disclosure.No
This published method should be construed to reflect such intention, that is, the embodiment of theme claimed needs to compare
The more features of the feature clearly stated in each claim.On the contrary, as appended claims is reflected
Like that, the present invention is in the state fewer than whole features of disclosed single embodiment.Therefore, appended claims
It is hereby expressly incorporated into detailed description, wherein each claim is used as alone the individual preferred embodiment of the present invention.
For can be realized any technical staff in the art or using the present invention, above to disclosed embodiment into
Description is gone.To those skilled in the art；The various modifications mode of these embodiments will be apparent from, and this
The General Principle of text definition can also be suitable for other embodiments on the basis of not departing from the spirit and scope of the disclosure.
Therefore, the disclosure is not limited to embodiments set forth herein, but most wide with principle disclosed in the present application and novel features
Range is consistent.
Description above includes the citing of one or more embodiments.Certainly, in order to describe above-described embodiment and description portion
The all possible combination of part or method is impossible, but it will be appreciated by one of ordinary skill in the art that each implementation
Example can do further combinations and permutations.Therefore, embodiment described herein is intended to cover fall into the appended claims
Protection scope in all such changes, modifications and variations.In addition, with regard to term used in specification or claims
The mode that covers of "comprising", the word is similar to term " includes ", just as " including " solved in the claims as transitional word
As releasing.In addition, the use of any one of specification in claims term "or" being to indicate " non-exclusionism
Or ".
Those skilled in the art will also be appreciated that the various illustrative components, blocks that the embodiment of the present invention is listed
(illustrative logical block), unit and step can by electronic hardware, computer software, or both knot
Conjunction is realized.For the replaceability (interchangeability) for clearly showing that hardware and software, above-mentioned various explanations
Property component (illustrative components), unit and step universally describe their function.Such function
It can be that the design requirement for depending on specific application and whole system is realized by hardware or software.Those skilled in the art
Can be can be used by various methods and realize the function, but this realization is understood not to for every kind of specific application
Range beyond protection of the embodiment of the present invention.
Various illustrative logical blocks or unit described in the embodiment of the present invention can by general processor,
Digital signal processor, specific integrated circuit (ASIC), field programmable gate array or other programmable logic devices, discrete gate
Or transistor logic, discrete hardware components or above-mentioned any combination of design carry out implementation or operation described function.General place
Managing device can be microprocessor, and optionally, which may be any traditional processor, controller, microcontroller
Device or state machine.Processor can also be realized by the combination of computing device, such as digital signal processor and microprocessor,
Multi-microprocessor, one or more microprocessors combine a digital signal processor core or any other like configuration
To realize.
The step of method described in the embodiment of the present invention or algorithm can be directly embedded into hardware, processor execute it is soft
The combination of part module or the two.Software module can store in RAM memory, flash memory, ROM memory, EPROM storage
Other any form of storaging mediums in device, eeprom memory, register, hard disk, moveable magnetic disc, CD-ROM or this field
In.Illustratively, storaging medium can be connect with processor, so that processor can read information from storaging medium, and
It can be to storaging medium stored and written information.Optionally, storaging medium can also be integrated into the processor.Processor and storaging medium can
To be set in asic, ASIC be can be set in user terminal.Optionally, processor and storaging medium also can be set in
In different components in the terminal of family.
In one or more exemplary designs, above-mentioned function described in the embodiment of the present invention can be in hardware, soft
Part, firmware or any combination of this three are realized.If realized in software, these functions be can store and computer-readable
On medium, or it is transferred on a computer readable medium in the form of one or more instructions or code forms.Computer readable medium includes electricity
Brain storaging medium and convenient for so that computer program is allowed to be transferred to from a place telecommunication media in other places.Storaging medium can be with
It is that any general or special computer can be with the useable medium of access.For example, such computer readable media may include but
It is not limited to RAM, ROM, EEPROM, CD-ROM or other optical disc storages, disk storage or other magnetic storage devices or other
What can be used for carry or store with instruct or data structure and it is other can be by general or special computer or general or specially treated
The medium of the program code of device reading form.In addition, any connection can be properly termed computer readable medium, example
Such as, if software is to pass through a coaxial cable, fiber optic cables, double from a web-site, server or other remote resources
Twisted wire, Digital Subscriber Line (DSL) are defined with being also contained in for the wireless way for transmitting such as example infrared, wireless and microwave
In computer readable medium.The disk (disk) and disk (disc) includes compress disk, radium-shine disk, CD, DVD, floppy disk
And Blu-ray Disc, disk is usually with magnetic replicate data, and disk usually carries out optically replicated data with laser.Combinations of the above
Also it may be embodied in computer readable medium.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (8)
1. a kind of multi satellites joint orbit determination method based on Compensation for Model Errors, which is characterized in that the described method includes:
According to the sight of space-based TT & C network, space network satellite group and the kinetic model and ground tracking and command network and space-based TT & C network, space network of target satellite
Model is surveyed, the primary multi satellites joint orbit determination equation of target satellite is established；
According to primary multi satellites joint orbit determination equation, the orbit computation value of target satellite is obtained, and the track of combining target satellite is seen
Measured value obtains the difference of orbit observation value and orbit computation value, i.e. OC residual error；
By the frequency spectrum corresponding relationship of OC residual error and OC residual error and Dynamic model error source and observation model error source, determine
The corresponding error source of OC residual error, and establish the error compensation item of kinetic model and the error compensation of observation model respectively accordingly
?；
According to primary multi satellites joint orbit determination equation and the error compensation item of kinetic model and observation model, target satellite is established
World base multi satellites joint orbit determination equation；
Using non-linear multi-model optimal estimation method, the world base multi satellites joint orbit determination equation of the target satellite is determined
Optimal trajectory parameter.
2. the multi satellites joint orbit determination method according to claim 1 based on Compensation for Model Errors, which is characterized in that described
By the frequency spectrum corresponding relationship of OC residual error and OC residual error and Dynamic model error source and observation model error source, determine that OC is residual
The corresponding error source of difference, comprising:
According to OC residual error the continuous segmental arc the characteristics of, the basic function of OC residual signals is established in the time domain；
According to the basic function, using the multi-scale effect of wavelet transformation, successively by OC residual signals resolve into high fdrequency component and
Low frequency component obtains different characteristic layer information；
The trend of the different characteristic layer information is decomposed, the frequency spectrum of different characteristic layer information is obtained；
According to the frequency spectrum of the different characteristic layer information and the frequency spectrum corresponding relationship, the different characteristic layer letter of OC residual error is determined
The corresponding error source of breath.
3. the multi satellites joint orbit determination method according to claim 2 based on Compensation for Model Errors, which is characterized in that described
According to the frequency spectrum of the different characteristic layer information and the frequency spectrum corresponding relationship, determine corresponding to the different characteristic layer of OC residual error
Error source, comprising:
Using the method for mathematical derivation and l-G simulation test, Dynamic model error source and observation model error source and OC residual error are obtained
Frequency spectrum function corresponding relationship；
According to the frequency spectrum and the frequency spectrum function corresponding relationship of OC residual error different characteristic layer information, the difference of OC residual error is determined
Error source corresponding to characteristic layer.
4. the multi satellites joint orbit determination method according to claim 3 based on Compensation for Model Errors, which is characterized in that described
The error of the error compensation item and observation model that determine the corresponding error source of OC residual error, and establish kinetic model respectively accordingly is mended
Repay item, comprising:
When the corresponding error source of main feature layer information of OC residual error is Dynamic model error source, kinetic model is established
Error compensation item；
When the corresponding error source of main feature layer information of OC residual error is observation model error source, the error of observation model is established
Compensation term；
When that can not determine main error source by OC residual error, OC residual error is decomposed by hybrid mode decomposition method, and leads to
The control overall error upper limit is crossed to be modified OC residual error.
5. the multi satellites joint orbit determination method according to claim 4 based on Compensation for Model Errors, which is characterized in that described
Establish the error compensation item of kinetic model, comprising:
According to track characteristic, the method combined by physical model and mathematical model is built for cannot be used for kinetic model
The perturbative force of mould is fitted the perturbative force founding mathematical models with basic function, and construction is taken the photograph by what the mathematical model indicated accordingly
Power error compensation item；
It is sparse using greedy algorithm or interior-point algohnhm construction according to the parameter accuracy of the requirement of orbit determination accuracy and kinetic model
The mathematical model that parameter indicates, the Compensation for Model Errors item as kinetic model；
According to perturbative force error compensation item and the Compensation for Model Errors item of kinetic model, the error compensation of kinetic model is established
, to correct the corresponding OC residual error in Dynamic model error source.
6. the multi satellites joint orbit determination method according to claim 4 based on Compensation for Model Errors, which is characterized in that described
Establish the error compensation item of observation model, comprising:
Uncertain observation system error is estimated using nonparametric methods in statistics, obtains the uncertain mould that nonparametric indicates
Type error compensation function；
According to the deterministic system error compensation model of the uncertainty models error compensation function and observation model, establish
The error compensation item of observation model, to correct the corresponding OC residual error of observation model error source.
7. the multi satellites joint orbit determination method according to claim 4 based on Compensation for Model Errors, which is characterized in that described
OC residual error is decomposed by hybrid mode decomposition method, and OC residual error is modified by controlling the overall error upper limit, comprising:
OC residual error is converted on frequency domain, according to prior information, by Empirical mode decomposition, it is right in OC residual error to decompose
The part for answering error source carries out OC residual GM by the corresponding error compensation item of the error source；
To the part that can not determine corresponding error source in OC residual error, pass through the adjustment and the control overall error upper limit to experience power size
Mode OC residual error is modified.
8. the multi satellites joint orbit determination method according to claim 1 based on Compensation for Model Errors, which is characterized in that described
Using non-linear multi-model optimal estimation method, the world base multi satellites joint orbit determination equation of the target satellite is determined most
Excellent orbit parameter, comprising:
Using the curvature of world base multi satellites joint orbit determination equation as quantitative criteria, each mould of world base multi satellites joint orbit determination equation is measured
The nonlinear degree and complexity of type, according to the curvature of world base multi satellites joint orbit determination equation to world base multi satellites joint orbit determination
Equation is weighted processing；
Operations of Interva Constraint is carried out to the parameter to be estimated in the world base multi satellites joint orbit determination equation by restriction on the parameters method；
Optimal estimation is carried out to the parameter in the world base multi satellites joint orbit determination equation using Biased estimator method；
The parameter in the world base multi satellites joint orbit determination equation is advanced optimized and corrected by iterative method.
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