CN111522037B - Autonomous navigation method and navigation system for constellation co-orbital plane satellite - Google Patents

Autonomous navigation method and navigation system for constellation co-orbital plane satellite Download PDF

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CN111522037B
CN111522037B CN202010360125.0A CN202010360125A CN111522037B CN 111522037 B CN111522037 B CN 111522037B CN 202010360125 A CN202010360125 A CN 202010360125A CN 111522037 B CN111522037 B CN 111522037B
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CN111522037A (en
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林夏
林宝军
刘迎春
白涛
武国强
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Shanghai Zhongkechen New Satellite Technology Co ltd
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Shanghai Engineering Center for Microsatellites
Innovation Academy for Microsatellites of CAS
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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
    • G01S19/393—Trajectory determination or predictive tracking, e.g. Kalman filtering
    • 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
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • 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
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Abstract

The invention provides an autonomous navigation method and a navigation system for a satellite with a constellation and a same orbital plane, which comprise the following steps: a main satellite and a plurality of sub-satellites are arranged in each orbit plane in the constellation, and the main satellite is used for carrying out centralized processing on the two-way ranging information obtained by each sub-satellite in the orbit plane to obtain the navigation information of each satellite in the orbit plane; each sub-satellite adopts a Ka inter-satellite link to realize inter-satellite ranging between the satellite and other satellites, and the sub-satellites realize switching link establishment ranging with surrounding satellites by switching Ka antenna phased array phases to acquire inter-satellite ranging information of the satellite and each satellite on the same orbital plane and inter-satellite ranging information of the satellite and satellites on different orbital planes; the satellite-borne laser terminals installed on the sub-satellites adopt laser links and two adjacent satellites in the same orbit to build the links, so that high-speed data communication between the satellites in the same orbit plane is realized; and each sub-satellite in the same orbital plane transmits information into the main satellite, and the main satellite realizes the accurate orbit determination of each satellite in the orbital plane by using a centralized navigation algorithm of the same orbital region.

Description

Autonomous navigation method and navigation system for constellation co-orbital plane satellite
Technical Field
The invention relates to the technical field of satellite navigation, in particular to an autonomous navigation method and system for a satellite with a constellation and a same orbital plane.
Background
The satellite autonomous navigation means that the satellite independently determines the information such as the position, the speed and the like on the satellite without the help of external support. Ananda firstly proposes a constellation satellite autonomous navigation technology for realizing self satellite navigation information determination by observing the inter-satellite distance with other satellites. By utilizing the mutual distance measurement of UHF frequency bands between satellites and between the satellites of the GPS constellation satellite, the autonomous navigation algorithm proposed by Ananda is firstly successfully applied to the GPS BLOCK IIR constellation satellite. And correcting the long-term ephemeris by using the inter-satellite observation information on the satellite, wherein the user ranging accuracy error (URE) of the GPS BLOCK IIR constellation satellite is less than 3m within 75 days.
The China Beidou third-class global navigation system completes the constellation satellite deployment of the Beidou third-class basic system at the end of 2018, plans to complete the transmitting tasks of all satellites in 2020, and provides navigation signal service for the world. In order to overcome the difficulty that the satellite cannot be fully stationed in the world and enable the satellite to have a high-precision position time information reference in an area which cannot be supported by the ground, the Beidou third satellite also adopts an inter-satellite link autonomous navigation technology. The satellite adopts the Ka link with better performance to realize the two-way distance measurement between the satellites and the earth. The Ka link 3s can finish the bidirectional distance measurement work of the satellite and other satellites, the communication distance measurement of the satellite receiving and sending of the satellite of other satellites is finished in the first 1.5s, and the communication distance measurement of the satellite receiving and sending of other satellites of the satellite is finished in the last 1.5 s. Through the link establishment mode, the Beidou satellite establishes links with other satellites in sequence according to a planned link establishment planning table, and generally can establish links with 14 different satellites in a period. However, at present, the published autonomous navigation precision of the Beidou satellite is a ground simulation result according to an actually measured inter-satellite distance measurement value, and no data is published on the autonomous navigation precision of the in-orbit Beidou satellite.
According to different processing modes of the inter-satellite ranging values, the inter-satellite link autonomous navigation algorithm is divided into a centralized autonomous navigation algorithm and a distributed autonomous navigation algorithm. Due to the limitation of conditions such as satellite communication capacity, satellite processing capacity and the like, no matter whether a GPS constellation satellite or a Beidou constellation satellite adopts a distributed navigation algorithm to realize autonomous navigation in orbit at present. In the period, the navigation satellite realizes bidirectional inter-satellite distance measurement through a plurality of satellites, receives navigation messages of the satellites and determines the self orbit information of the satellites. However, in the distributed constellation satellite navigation algorithm, the navigation message of the satellite received by the satellite is a one-step prediction result of a period of navigation information of the satellite, and a certain error is necessarily existed. The accuracy of the distributed navigation algorithm will inevitably suffer in comparison to the centralized navigation algorithm.
With the enhancement of the processing capability of the on-board processor and the breakthrough of the inter-satellite high-speed communication technology and the intra-satellite high-speed bus technology, the satellite has the capability of realizing a centralized navigation algorithm on the satellite. However, the conventional centralized autonomous orbit determination algorithm generally refers to a centralized processing operation of all satellite ranging information in a constellation, so as to obtain navigation information of all satellites in the constellation. Due to the defects that the laser terminal has difficult communication on different rail surfaces, inconvenient pointing switching and the like, the traditional centralized orbit determination algorithm of the full constellation satellite is difficult to realize.
Disclosure of Invention
The invention aims to provide an autonomous navigation method and a navigation system for a satellite with a constellation and a same orbital plane, so as to solve the problem that the conventional centralized orbit determination algorithm for a full-constellation satellite is difficult to realize.
In order to solve the technical problem, the invention provides an autonomous navigation method for a constellation co-orbital satellite, which comprises the following steps:
a main satellite and a plurality of sub-satellites are arranged in each orbital plane in a constellation, and the main satellite is used for carrying out centralized processing on the two-way ranging information obtained by each sub-satellite in the orbital plane to obtain the navigation information of each satellite in the orbital plane;
each sub-satellite adopts a Ka inter-satellite link to execute inter-satellite ranging of the satellite and other satellites, and the sub-satellites execute switching link establishment ranging with surrounding satellites by switching Ka antenna phased array phases so as to acquire inter-satellite ranging information of the satellite and each satellite on the same orbital plane and inter-satellite ranging information of the satellite and satellites on different orbital planes;
each sub-satellite adopts a laser link and two adjacent satellites in the same orbit to build a link so as to execute high-speed data communication between the satellites in the same orbit;
and each sub-satellite in the same orbital plane transmits information into the main satellite, and the main satellite executes accurate orbit determination of each satellite in the orbital plane by using a centralized navigation algorithm of the same orbital region.
Optionally, in the autonomous navigation method for a constellation co-orbital satellite, the autonomous navigation method for a constellation co-orbital satellite further includes:
each sub-satellite in the constellation finishes the forecast of the satellite navigation information, each sub-satellite finishes the two-way ranging with other satellites by using the link between Ka satellites, and the satellite finishes the receiving of the ranging information of other satellites by the communication of the link between Ka satellites; the inter-satellite ranging information and the satellite navigation forecast information are transmitted to the same-orbit main satellite by the sub-satellite through the laser link;
after receiving the inter-satellite ranging information and the local satellite navigation forecast information transmitted by the sub-satellites, the main satellite corrects the acquired inter-satellite ranging information to obtain the required autonomous navigation observation information;
forecasting the orbit information of the different orbit satellites which are not transmitted with the navigation forecasting information by the main satellite;
the main satellite substitutes the autonomous navigation observation information and the satellite navigation forecast information into a filtering updating algorithm to obtain the updating of the orbit information of the co-orbiting sub-satellite;
the updated orbit information of the same orbit sub-satellite is respectively transmitted to each sub-satellite by the main satellite, so that each sub-satellite completes the updating of the orbit information of the satellite.
Optionally, in the autonomous navigation method for a satellite in a constellation and an orbital plane, the step of completing the prediction of the satellite navigation information by each sub-satellite in the constellation includes:
each sub-satellite in the constellation adopts an on-satellite autonomous forecasting method, and the satellite dynamics is modeled on the satellite to obtain the forecasting information of the satellite orbit at the moment;
the track information forecasting model of the centralized navigation algorithm is obtained by the formula (1)
Figure BDA0002474744040000031
In the formula, R SAT And V SAT Is the satellite position and velocity vector under the inertial system, a SAT As a vector of the acceleration of the satellite,
Figure BDA0002474744040000032
and
Figure BDA0002474744040000033
process noise information of satellite position and velocity, respectively;
the satellite is acted by earth central gravity, earth non-spherical gravity, sun-moon-trisomy gravity and sunlight pressure perturbation force;
calculating satellite acceleration information a according to formula (2) SAT ；
a SAT ＝a TB +a NS +a NB +a SRP (2)
Wherein: computing the acceleration a of the earth center gravity of the satellite by adopting a 4-x-4-order WGS84 gravity model TB And acceleration a of the earth's non-spherical gravitational force NS ；
JPL DE405 ephemeris is adopted to calculate the position of the sun and the moon and calculate the acceleration a of the gravity of the satellite in the sun, the moon and the moon NB ；
Calculating the solar light pressure dynamic acceleration a of the satellite by adopting a ball model SRP 。
Optionally, in the autonomous navigation method for a satellite in a constellation and orbital plane, each sub-satellite completes bidirectional ranging with another satellite by using a link between Ka satellites, and the receiving of ranging information of the other satellite by the satellite through the link communication between Ka satellites includes:
setting the satellite at t 1 Time of day t 2 The inter-satellite distance measurement of the satellite A and the satellite B and the inter-satellite distance measurement of the satellite B and the satellite A are respectively finished at the moment, and the distance measurement values are respectively rho AB (t 1 ) And rho BA (t 2 )；
Establishing an inter-satellite ranging model to obtain a relation between an inter-satellite ranging value and satellite orbit information, as shown in formula (3):
Figure BDA0002474744040000041
in the formula, δ t A ，δt B Respectively, clock error of satellite A and clock error of satellite B, delta t is signal light time between satellites,
Figure BDA0002474744040000042
respectively represent the errors of the two-star transceiving time delay,
Figure BDA0002474744040000043
respectively, ranging error correction terms including phase center deviation, relativistic effect error, troposphere and ionosphere delay error, epsilon AB ，ε BA Observing noise for two-way ranging;
removing the ranging error correction term according to an error model;
the two-star receiving and transmitting time delay error is merged into the clock error to obtain the two-star t 1 Time and t 2 The inter-satellite ranging information model related to the time orbit information and the clock error information is shown in formula (4):
Figure BDA0002474744040000044
in the formula (I), the compound is shown in the specification,
Figure BDA0002474744040000045
error correction values of the two inter-satellite ranging information are respectively obtained;
through the forecast estimation of the double-satellite orbit and the clock error information, the receiving and sending time of the corrected two-way distance measurement information between the satellites is reduced to the time t to be updated k As shown in equation (5):
Figure BDA0002474744040000051
separating position information and clock error information contained in inter-satellite ranging information to obtain autonomous navigation orbit observed quantity for updating orbit information
Figure BDA0002474744040000052
As shown in equation (6):
Figure BDA0002474744040000053
optionally, in the autonomous navigation method for a satellite with a constellation and a same orbital plane, the correcting the acquired inter-satellite range information to obtain the required autonomous navigation observation information includes:
and (3) performing first-order approximation on the formula (6) at the satellite orbit prediction estimation point by using a Taylor formula to obtain a two-satellite ranging observation equation (7):
Figure BDA0002474744040000054
in the formula
Figure BDA0002474744040000055
Are each t k The predicted position vectors for satellite a and satellite B at time,
Figure BDA0002474744040000056
first order position information corrections, dis, for satellite A and satellite B, respectively AB (t k ) Is t k Orbit prediction distance, dis, between time satellites A, B AB (t k ) Calculated from equation (8):
Figure BDA0002474744040000057
optionally, in the autonomous navigation method for a satellite with a constellation and an orbital plane, the step of substituting the autonomous navigation observation information and the satellite navigation forecast information into a filtering update algorithm by the main satellite to obtain the update of the orbital information of the satellite with the same orbital plane includes:
the centralized navigation algorithm filtering model is formula (9):
Figure BDA0002474744040000058
in the formula, a state equation and an observation equation of a centralized navigation algorithm are respectively shown; phi (t) k ,t k-1 ) Is the last moment t k-1 To the time t to be updated k A state transition matrix of (a);
X k-1 ＝(R SAT (t k-1 ),V SAT (t k-1 ) Represents the result of the satellite orbit filter update at the time k-1,
Figure BDA0002474744040000061
is based on X k-1 Obtaining track forecast information at the kth moment;
comparing the difference value of the collected observed quantity and the observed quantity estimation obtained by calculation of an observation equation in the centralized autonomous navigation algorithm, and obtaining a first-order correction value delta x of the orbit information at the kth moment by popularizing a Kalman filtering algorithm k ＝(ΔR SAT (t k ),ΔV SAT (t k ))；
The first order correction term Deltax k Adding forecast information
Figure BDA0002474744040000062
Obtaining the updated filtering result X at the time of k k And after cyclic iteration of a plurality of periods, the approximation of the real satellite orbit information is gradually completed by updating the output satellite orbit information through the Kalman filtering algorithm.
Optionally, in the autonomous navigation method for satellites in the same constellation orbital plane, each satellite is configured with a Ka inter-satellite link load, and inter-satellite directional switching and inter-satellite distance measurement are performed by using the Ka inter-satellite link; changing the beam phase of the Ka phased array antenna to change the beam direction of the Ka antenna array; according to the set satellite link establishment plan, each satellite performs inter-satellite ranging between the satellite and a plurality of other satellites by changing the beam direction of the Ka phased array antenna;
each satellite is configured with laser inter-satellite link load, after initial alignment, each satellite and a satellite adjacent to the same orbital plane of the constellation keep building a link for a long time, and the communication rate of the laser inter-satellite link load is 1Gbps of inter-satellite high-speed communication;
each satellite is provided with a processor with high-speed operation processing capacity, the peak frequency of the processor is 200MHz, the fixed-point peak performance is 400MIPS, the peak floating-point performance is 200MFLOPS, and the available internal memory reaches 512M;
each satellite is provided with a spacewire high-speed bus interface and performs high-speed communication in the planet through the spacewire high-speed bus; the spacewire bus communication rate is 200 Mbps.
Optionally, in the autonomous navigation method for a constellation co-orbital satellite, the autonomous navigation method for a constellation co-orbital satellite further includes:
building an intra-satellite simulation environment to verify a satellite co-orbit area centralized autonomous navigation algorithm;
the standard orbit generator generates all satellite standard orbits of a constellation, and the standard orbits are used for generating inter-satellite distance measurement simulation values and used as nominal values to evaluate the precision of satellite navigation information obtained by an algorithm;
the orbit prediction simulator generates orbit predictions of the current period of the sub-satellites in the orbit plane at the beginning of the algorithm period and sends the orbit predictions to the processor;
the inter-satellite ranging simulator obtains the ranging time sequence of each satellite through a satellite building chain table, generates a standard orbit of each satellite ranging time by using a standard orbit generator according to each satellite measuring time sequence and considering light travel, thereby obtaining each inter-satellite ranging information, and adds a transceiving delay error, a relativistic effect error, a phase center deviation, an ionosphere troposphere delay and other correction errors and corresponding ranging noise into each inter-satellite ranging information respectively to obtain corresponding inter-satellite ranging simulation information;
the processor runs a centralized autonomous navigation algorithm of the same-rail area;
and the upper computer is used for controlling the processor to operate and evaluating the orbit determination precision and the algorithm stability of the centralized autonomous navigation algorithm in the same orbit region by acquiring the data output by the processor.
The invention also provides a constellation co-orbital plane satellite autonomous navigation system, which comprises one main satellite and a plurality of sub-satellites in each orbital plane in a constellation, wherein:
the method comprises the steps that bidirectional ranging information obtained by each sub-satellite in the orbital plane is processed in a centralized mode through a main satellite, and navigation information of each satellite in the orbital plane is obtained;
each sub-satellite adopts a Ka inter-satellite link to execute inter-satellite ranging of the satellite and other satellites, and the sub-satellites execute switching link establishment ranging with surrounding satellites by switching Ka antenna phased array phases so as to acquire inter-satellite ranging information of the satellite and each satellite on the same orbital plane and inter-satellite ranging information of the satellite and satellites on different orbital planes;
the satellite-borne laser terminals installed on the sub-satellites adopt laser links and two adjacent satellites in the same orbit to build the links so as to execute high-speed data communication between the satellites in the same orbit;
and each sub-satellite in the same orbital plane transmits information into the main satellite, and the main satellite performs accurate orbit determination of each satellite in the orbital plane by using a centralized navigation algorithm.
In the autonomous navigation method and the navigation system for the satellite with the same constellation orbital plane, the pointing switching flexibility characteristic and the high-speed communication characteristic of the laser link of the Ka inter-satellite link are utilized, the defects that the communication of the different orbital planes of the laser terminal is difficult, the pointing switching is inconvenient and the like are overcome, and the algorithm design transmits Ka bidirectional ranging information acquired by each satellite in the orbital plane into the main satellite of the orbital plane by utilizing the laser inter-satellite link, so that the ranging information is processed in a centralized manner, and the updating of the orbital information of each satellite in the orbital plane is completed.
The Beidou satellite initially has the inter-satellite and intra-satellite high-speed communication capability and the intra-satellite high-speed operation processing capability, so that the centralized autonomous navigation algorithm research can be developed to improve the autonomous navigation precision of the Beidou satellite. The invention provides a Beidou satellite autonomous navigation algorithm with centralized same orbit regions based on latest Beidou satellite configuration. In addition, the invention also builds a simulation environment consistent with the intra-satellite environment to verify the accuracy and performance of the algorithm. Simulation results show that the same-orbit region centralized autonomous navigation algorithm can stably run in an intra-satellite simulation environment, and the navigation precision of the algorithm is far superior to that of a distributed autonomous navigation algorithm.
The invention designs a same-orbit satellite region centralized orbit determination algorithm. The algorithm adopts Ka link to realize the rapid two-way communication and distance measurement between the satellite and other satellites, and adopts laser link to realize the link establishment between the satellite and two adjacent satellites in the same orbit, thereby realizing the high-speed communication of the information of the satellites in the same orbit. The inter-satellite distance measurement information of the satellite in the orbit and other satellites is transmitted to the main satellite through the laser link in a centralized manner, and the main satellite updates the navigation information of the satellite in the orbit in a centralized manner and sends the navigation information to each satellite. The process is repeated along with the updating period of the algorithm, so that the accurate orbit determination of the satellite in the same orbit is realized.
With the continuous upgrading of on-board equipment, the communication capacity and the operation processing capacity of a new generation of Beidou satellite are greatly improved compared with those of the prior satellite. Specifically, Beidou satellites CA34 and CA35 carry the Loongson 1E300 processor for the first time and complete the on-orbit application test of the Beidou satellites. The peak frequency of the Loongson 1E300 processor can reach 200MHz, and the available memory can reach 512M. Meanwhile, the Loongson processor is provided with a spacewire bus interface and can be combined with a spacewire bus carried together to realize the intra-satellite communication with the maximum speed of 200 Mbps. Moreover, China has already completed the demonstration work of Beidou satellite networking based on the laser intersatellite link, and in 2017, a plan for adding the laser intersatellite link function to the Beidou satellite is provided. The current satellite-borne laser terminal has the capability of high-speed communication at 1Gbps, and if the satellite-borne laser terminal is used on a satellite, high-speed transmission of inter-satellite information can be realized. At present, the Beidou satellite onboard configuration has the capacity of realizing high-speed data communication and high-speed operation processing required by a centralized orbit determination algorithm. Therefore, the invention designs the on-satellite centralized autonomous navigation algorithm and researches the feasibility of the algorithm based on the configuration.
Meanwhile, in order to evaluate the feasibility of applying the centralized autonomous navigation algorithm in the same orbit region to the Beidou satellite, the simulation environment the same as the on-satellite environment of the Beidou satellite is built, the algorithm is operated in the simulation environment, and the performance and the stability of the algorithm are simulated and verified.
Drawings
FIG. 1 is a schematic diagram illustrating a generalized Kalman filtering algorithm of an autonomous navigation method for satellites in the same constellation and orbital planes according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a principle of a co-orbit region centralized autonomous navigation algorithm according to another embodiment of the present invention;
FIG. 3 is a schematic flow chart of a co-orbit region centralized autonomous navigation algorithm according to another embodiment of the present invention;
FIG. 4 is a schematic diagram of a simulation environment of a co-orbit regional centralized autonomous navigation algorithm according to another embodiment of the present invention;
FIG. 5 is a diagram of the satellite orbit prediction accuracy of the autonomous navigation method for satellites in the same constellation orbital plane according to another embodiment of the present invention;
FIG. 6 is a diagram of the precision of the autonomous navigation and orbit determination in the same orbit region of the satellite autonomous navigation method in the same orbit plane of constellation according to another embodiment of the present invention;
fig. 7 is a diagram of the prior art distributed autonomous navigation tracking accuracy.
Detailed Description
The autonomous navigation method and system for satellites with same constellation and orbital planes according to the present invention will be described in detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
The invention provides an autonomous navigation method and system for a satellite with a constellation and a same orbital plane, and aims to solve the problem that the conventional centralized orbit determination algorithm for a full-constellation satellite is difficult to realize.
Due to the limitation of satellite data transmission capacity and satellite onboard operation processing capacity, the conventional Beidou navigation satellite adopts a distributed navigation algorithm to realize inter-satellite link autonomous navigation. However, with the continuous improvement of the on-board operation processing capability and the enhancement of the inter-satellite/intra-satellite communication bandwidth, the on-board configuration of the Beidou satellite can meet the requirement of a centralized navigation algorithm. Therefore, based on the on-satellite configuration of the Beidou satellite, the invention provides an on-satellite available centralized navigation algorithm and a co-orbit area centralized navigation algorithm. In the same-orbit region centralized navigation algorithm, a main satellite is arranged in each orbit plane in a constellation, and the navigation information of each satellite in the orbit plane is obtained by centralized processing of the two-way ranging information obtained by each satellite in the orbit plane by the main satellite.
In order to realize the idea, the invention provides an autonomous navigation method and a navigation system for a satellite with a constellation and an orbital plane, wherein the autonomous navigation system for the satellite with the constellation and the orbital plane comprises a main satellite and a plurality of sub-satellites in each orbital plane in the constellation, and the autonomous navigation method comprises the following steps: the method comprises the steps that bidirectional ranging information obtained by each sub-satellite in the orbital plane is processed in a centralized mode through a main satellite, and navigation information of each satellite in the orbital plane is obtained; each sub-satellite adopts a Ka inter-satellite link to execute inter-satellite ranging of the satellite and other satellites, and the sub-satellites execute switching link establishment ranging with surrounding satellites by switching Ka antenna phased array phases so as to acquire inter-satellite ranging information of the satellite and each satellite on the same orbital plane and inter-satellite ranging information of the satellite and satellites on different orbital planes; the satellite-borne laser terminals installed on the sub-satellites adopt laser links and two adjacent satellites in the same orbit to build the links so as to execute high-speed data communication between the satellites in the same orbit; and each sub-satellite in the same orbital plane transmits information into the main satellite, and the main satellite performs accurate orbit determination of each satellite in the orbital plane by using a centralized navigation algorithm.
< example one >
The embodiment provides an autonomous navigation method for a constellation co-orbital satellite, which comprises the following steps: a main satellite and a plurality of sub-satellites (for example, all the other satellites except the main satellite are sub-satellites) are arranged in each orbital plane in a constellation, and the main satellite is used for carrying out centralized processing on two-way ranging information obtained by each sub-satellite in the orbital plane to obtain navigation information of each satellite in the orbital plane; each sub-satellite adopts a Ka inter-satellite link to execute inter-satellite ranging of the satellite and other satellites, and the sub-satellites execute switching link establishment ranging with surrounding satellites by switching Ka antenna phased array phases so as to acquire inter-satellite ranging information of the satellite and each satellite on the same orbital plane and inter-satellite ranging information of the satellite and satellites on different orbital planes; the satellite-borne laser terminals installed on the sub-satellites adopt laser links and two adjacent satellites in the same orbit to build the links so as to execute high-speed data communication between the satellites in the same orbit; and each sub-satellite in the same orbital plane transmits information into the main satellite, and the main satellite executes accurate orbit determination of each satellite in the orbital plane by using a centralized navigation algorithm of the same orbital region.
In order to realize a centralized autonomous navigation algorithm in a constellation satellite, the satellite needs to have high-speed inter-satellite and intra-satellite communication capability, high-speed inter-satellite pointing switching capability, accurate inter-satellite distance measurement capability and strong on-satellite operation processing capability. The new generation of Beidou satellite continuously updates satellite configuration, and the satellite reaches the performance requirement required by a centralized autonomous navigation algorithm.
Firstly, the Beidou satellite can utilize a Ka link to realize quick switching of pointing between satellites and accurate inter-satellite ranging. The new generation of Beidou satellites are all configured with Ka inter-satellite link loads. The Beidou satellite Ka link adopts a phased array technology, and the beam direction of the Ka antenna array can be changed by changing the beam phase of the Ka phased array antenna. Therefore, according to the set satellite link establishment plan, the beam direction of each satellite through the phased array antenna is changed rapidly, and the inter-satellite distance measurement between the satellite and a plurality of other satellites can be realized. At present, the Beidou satellite can realize chain building and ranging with 14 different satellites within a period of 5 minutes, and the inter-satellite ranging error is less than 0.1 m.
Secondly, the Beidou satellite can utilize a laser inter-satellite link to realize high-speed inter-satellite communication of the satellite. China proposes a plan for adding a laser inter-satellite link function to a Beidou satellite in 2017. At present, the development of laser communication load is being carried out in order. According to the capacity of the current laser terminal, if the satellite carries the laser inter-satellite link terminal, the high-speed communication between 1Gbps satellites can be realized, so that the high-speed transmission of a large amount of inter-satellite information can be realized.
Thirdly, the Beidou satellite can meet the operation requirement of a centralized navigation algorithm by using a Loongson 1E300 processor. The Loongson 1E300 processor is an aerospace-grade processor newly developed by China Ke Loongson company, and has a high irradiation resistance threshold value and a single-particle locking threshold value, so that the processor can be reliably used in Beidou satellites. Beidou satellites CA34 and CA35 carry the Loongson 1E300 processor for the first time, and complete the in-orbit application test of the Beidou satellites. The Loongson 1E300 processor has peak frequency up to 200MHz, fixed point peak performance of 400MIPS, peak floating point performance of 200MFLOPS and available memory up to 512M. Compared with the prior processor, the main frequency and the memory capacity of the processor are greatly improved. The subsequent Loongson 1E300 processor gradually replaces the existing processor, so that the Beidou satellite operation capacity is improved.
Fourthly, the Beidou satellite can utilize a spacewire bus to realize high-speed communication in the satellite. The Loongson 1E300 processors are all provided with spacewire high-speed bus interfaces, so that the intra-satellite high-speed communication can be realized through the spacewire high-speed buses. The communication rate of the Spacewire bus can reach 200Mbps, and the requirement of a centralized algorithm can be fully met. The Spacewire bus and the Loongson 1E300 processor are already mounted on Beidou satellites CA34 and CA35, and the in-satellite high-speed communication test is completed.
In summary, the Beidou satellite onboard configuration based on the Ka inter-satellite link, the laser inter-satellite link, the Loongson 1E300 processor and the spacewire intra-satellite bus can fully meet the application requirements of the centralized navigation algorithm.
Although the performance requirements of the centralized navigation algorithm can be met based on the on-board configuration, the centralized navigation algorithm needs to be redesigned to adapt to the on-board configuration. The laser inter-satellite link is an important link for realizing a centralized autonomous navigation algorithm, and needs to transmit a large amount of inter-satellite ranging information and state information of each satellite by utilizing the high-speed communication capability of the laser inter-satellite link. There are limitations to the use of laser terminals. Firstly, the Beidou constellation iso-orbital satellite communication has the characteristics of long inter-satellite distance, serious Doppler frequency shift, severe dynamic change and the like, and a laser inter-satellite link is not suitable for the iso-orbital communication. Furthermore, the laser beam is very narrow and the bidirectional alignment is difficult, so that it is not suitable for frequently switching the pointing link. Finally, since the laser terminal is a mechanical terminal, the limitations of its rotation capability and installation number will also greatly affect the use of the laser link. Therefore, based on the condition restriction of the laser link, the invention designs a same-orbit satellite region centralized autonomous navigation algorithm.
The design of the concentric orbit region centralized autonomous navigation algorithm is shown in FIG. 2. Firstly, the constellation satellite adopts Ka link to realize the inter-satellite ranging between the satellite and other satellites. As shown in No.1 satellite in the figure, the Beidou satellite can realize fast switching link establishment ranging with surrounding satellites by switching Ka antenna phased array phases, and the link establishment ranging situation is shown by a dotted line in the figure. It should be noted that although the algorithm is the same-orbit satellite navigation algorithm, the algorithm still needs to acquire inter-satellite ranging information of each satellite in the orbit plane and the out-of-plane satellite to enrich the inter-satellite ranging geometry and improve the same-orbit satellite ranging accuracy. And then, the constellation satellite adopts a laser link to build a link with two adjacent satellites in the same orbit, so that high-speed data communication between the satellites in the same orbit is realized. As shown in the figure, for example, the orbits formed by No. 1-8 satellites, the solid line between satellites in the figure is the co-orbit laser high-speed communication network formed by the laser building chains of adjacent satellites in the orbit. Because the elevation angle and azimuth angle change among the satellites in the same orbit are small, the laser link between adjacent satellites in the same orbit can be stably established for a long time. And the adjacent satellite laser building link also fully considers the factor of the limitation of the installation number of the laser terminals. And finally, each satellite in the orbital plane transmits information into the main satellite, and the main satellite can realize accurate orbit determination of each satellite in the orbital plane by using a centralized navigation algorithm. In the figure, the No.5 satellite is taken as a main satellite, and arrows in the figure indicate the process of transmitting the ranging information into the No.5 satellite through the No. 1-8 satellites.
The specific implementation flow of the autonomous navigation algorithm in the same-track area set is shown in fig. 3. And each sub-satellite in the constellation firstly completes the prediction of the navigation information of the satellite. And each sub-satellite completes the two-way ranging with other satellites by using the Ka inter-satellite link, and completes the reception of the ranging information of other satellites by the satellite through Ka inter-satellite link communication. And then, the sub-satellite transmits the ranging information and the navigation forecast information of the satellite into the main satellite in the same orbit.
After the main satellite receives the inter-satellite ranging information and the satellite navigation forecast information transmitted by the sub-satellite, the main satellite firstly corrects the acquired sub-satellite ranging information to obtain the required autonomous navigation observation information. Then, because the distance measurement information contains the inter-satellite two-way distance measurement information of the satellite in the orbit and the satellite out of the orbit, the main satellite completes the orbit information forecast of each different orbit satellite which does not input the forecast information. And then, substituting the observation information and the satellite navigation forecast information into a filtering updating algorithm to obtain the updating of the orbit information of the co-orbiting satellite. And finally, the main satellite respectively transmits the updated orbit information of the co-orbit sub-satellite to each sub-satellite, so that each sub-satellite completes the updating of the orbit information of the satellite.
The centralized navigation algorithm is a dynamic orbit determination method. The algorithm firstly obtains the forecast information of each satellite orbit by using a satellite dynamics model. And then, based on the acquired inter-satellite/inter-satellite-ground ranging information, carrying out centralized correction on the orbit forecast information of each satellite by using a corresponding Kalman filtering algorithm so as to obtain real-time navigation information of each satellite.
In the centralized autonomous navigation algorithm, in order to update and correct the orbit information of each satellite of the constellation, a proper forecasting model needs to be established first to estimate the orbit information of each satellite. For the inter-satellite link autonomous navigation algorithm, commonly used forecasting methods include an on-satellite autonomous forecasting method and an on-injection long-term forecasting ephemeris method. In order to get rid of the dependence of the algorithm on the ground as much as possible, the invention adopts an on-satellite autonomous forecasting method. The on-satellite autonomous prediction method obtains the prediction information of the orbit of the satellite at the moment by accurately modeling the satellite dynamics on the satellite.
The orbit information forecasting model of the centralized autonomous navigation algorithm can be obtained by the following formula
Figure BDA0002474744040000131
In the formula, R SAT And V SAT Is the satellite position and velocity vector under the inertial system, a SAT As a vector of the acceleration of the satellite,
Figure BDA0002474744040000132
and
Figure BDA0002474744040000133
respectively, process noise information for satellite position and velocity.
For the Beidou satellite, besides the earth central gravity, the main acting forces influencing the orbital motion of the Beidou satellite also comprise global non-spherical gravity, lunar trisomy gravity, sunlight pressure and other perturbation forces.
Thus, in the prediction model, satellite acceleration information a is calculated according to equation (2) SAT . In the formula, the acceleration of each acting force acting on the satellite can be obtained through modeling calculation respectively. In the design of the invention, the 4 x 4 th order WGS84 gravity model is adopted to calculate the earth center gravity a of the satellite TB And an aspherical gravitational acceleration a NS (ii) a The JPL DE405 ephemeris is adopted to calculate the position of the sun and the moon, and then the acceleration a of the gravity of the satellite in the sun, the moon and the three bodies is calculated NB (ii) a Calculating the light pressure dynamic acceleration a of the satellite by adopting a ball model SRP 。
a SAT ＝a TB +a NS +a NB +a SRP (2)
The orbit information prediction model is generally solved by numerical integration. In order to save satellite resources, the prediction calculation of satellite orbits on the satellite is realized by adopting an RKF4(5) numerical integration method.
The centralized navigation algorithm utilizes mutual ranging information between two satellites of the constellation satellite to establish algorithm observed quantity and an observation equation. The following describes the method for establishing the observed quantity and the observation equation.
The observed quantity of the centralized navigation algorithm can be obtained by calculating the two-way ranging information of the satellites A and B, and the method is as follows.
Setting the satellite at t 1 Time of day t 2 The inter-satellite distance measurement of the satellite A transmitting and receiving and the inter-satellite distance measurement of the satellite B transmitting and receiving are respectively finished at the moment, and the distance measurement values are respectively rho AB (t 1 ) And rho BA (t 2 ). Then an inter-satellite ranging model can be established to obtain the relationship between the inter-satellite ranging value and the satellite orbit information, as shown in formula (3).
Figure BDA0002474744040000141
In the formula, δ t A ，δt B Clock differences of the satellites A and B are respectively, and delta t is the time of signal light between the satellites;
Figure BDA0002474744040000142
respectively represent the AB two-star transceiving delay errors,
Figure BDA0002474744040000143
respectively, the distance measurement error correction items comprise phase center deviation and relativistic effect error, if the anchoring station participates in the distance measurement as a pseudo satellite, the distance measurement error correction items also comprise troposphere and ionosphere delay error in the satellite-ground distance measurement process, epsilon AB ，ε BA Noise is observed for two-way ranging.
Among errors of the inter-satellite bidirectional ranging information model, phase center deviation, relativistic effect error, and stratospheric and ionospheric delay error contained in the ranging error correction term can be removed according to an error model provided by IERSConvention 2003. And the satellite receiving and transmitting delay error can be incorporated into the clock error information, and the clock error and the autonomous navigation algorithm are calculated and corrected together. Thus, by error correction of the original ranging values, only the satellites A, Bt can be obtained respectively 1 Time and t 2 And the inter-satellite distance measurement information model is related to the time orbit information and the clock error information. As shown in equation (4).
Figure BDA0002474744040000144
In the formula (I), the compound is shown in the specification,
Figure BDA0002474744040000145
respectively, the error correction values of the two ranging values.
Then, through the forecast estimation of the double-satellite orbit and the clock error information, the receiving and sending time of the corrected two-way distance measurement information between the satellites can be reduced to the time t to be updated k I.e. in the form shown in equation (5).
Figure BDA0002474744040000146
Finally, the process is carried out in a batch,as shown in formula (6), the position information and the clock error information contained in the inter-satellite ranging information are separated, and the autonomous navigation track observation quantity for updating the track information can be obtained
Figure BDA0002474744040000151
Figure BDA0002474744040000152
Since equation (6) is a nonlinear equation, in order to facilitate the subsequent use of a Kalman filter algorithm to update the satellite orbit information, equation (6) is first-order approximated by taylor's equation at the satellite orbit prediction estimation point, and an equation as shown in equation (7) can be obtained.
Figure BDA0002474744040000153
In the formula
Figure BDA0002474744040000154
Are each t k The predicted position vectors for satellite a and satellite B at time,
Figure BDA0002474744040000155
first order position information corrections, dis, for satellite A and satellite B, respectively AB (t k ) Is t k The orbit prediction distance between the time satellites A and B can be calculated by the formula (8).
Figure BDA0002474744040000156
Therefore, the first-order position and speed error correction quantity of the satellites A and B is used as an inter-satellite ranging autonomous navigation state vector, and the formula (7) is a satellite observation equation.
Centralized navigation algorithms typically utilize extended kalman filter algorithms (EKFs) to implement the filter updates. Since the EKF filter algorithm is a modification of the first order correction term, the filter model can be expressed in the form shown in equation (9).
Figure BDA0002474744040000157
The two formulas are respectively a state equation and an observation equation of the centralized navigation algorithm. Phi (t) k ,t k-1 ) Is the last moment t 0 To the time t to be updated k The state transition matrix of (2).
The EKF filtering algorithm principle can be represented by fig. 1. In the figure, X k-1 ＝(R SAT (t k-1 ),V SAT (t k-1 ) Represents the satellite orbit filter update result at the k-1 th time.
Figure BDA0002474744040000158
Is based on X k-1 And obtaining the track forecast information at the k-th moment. By comparing the difference between the collected observed quantity and the observed quantity estimation value calculated by the observation equation in the centralized autonomous navigation algorithm, the first-order correction value delta x of the orbit information at the k moment can be obtained by the filtering algorithm k ＝(ΔR SAT (t k ),ΔV SAT (t k )). The first order correction term Deltax k Adding to forecast information
Figure BDA0002474744040000162
Then the filtering updating result X at the moment k can be obtained k . After cyclic iteration of a plurality of periods, the satellite orbit information updated and output by the filtering algorithm gradually finishes approximation of the satellite real orbit information.
Because the ground laser communication verification cost is high, the Beidou satellite co-orbit area centralized autonomous navigation algorithm designed by the invention is verified only by building an in-satellite simulation environment. The laser communication transmission speed is far superior to the intra-satellite transmission speed, so that the effectiveness of algorithm verification cannot be influenced without adding laser communication simulation. As shown in fig. 4, the simulation environment is composed of a standard track generator, a track forecast simulator, an inter-satellite distance measurement simulator, a loongson 1E300 processor, and 1 loongson processor upper computer. In order to simulate the intra-satellite communication environment, the track forecast simulator, the inter-satellite distance measurement simulator and the Loongson processor are communicated through a spacewire bus. The communication among other devices is network communication, so that real-time data transmission and processing are facilitated.
The standard orbit generator is used for generating standard orbits of all satellites of the constellation. The standard orbit can be used for generating an inter-satellite ranging simulation value and evaluating the precision of satellite navigation information obtained by an algorithm as a nominal value. The satellite dynamics model and numerical integration algorithm in the standard orbit generator are shown in table 1.
TABLE 1 Standard orbital Generator satellite dynamics model
Figure BDA0002474744040000161
The orbit prediction simulator is used for generating the orbit prediction of the current period of the sub-satellite in the orbit plane at the beginning of the algorithm period and sending the orbit prediction to the Loongson 1E300 board card. The satellite orbit prediction algorithm is designed according to the orbit information prediction model. According to the experience of the on-orbit satellite, the precision of an orbit prediction light pressure model is between 2% and 10%, and in order to fully evaluate the performance of a centralized autonomous navigation algorithm in the same orbit region, 0%, 2%, 5% and 10% of light pressure perturbation power system errors are added in the prediction model respectively.
Compared with the standard orbit model, the standard orbit model adopts a more complex earth gravitational field model, and small-magnitude perturbation force models such as tidal perturbation are added. Meanwhile, the light pressure model in the forecast track is added with a proper amount of errors according to the in-track experience. Therefore, although a certain error exists between the designed standard orbit and the real Beidou satellite orbit, the difference value between the designed standard orbit and the predicted orbit can fully reflect the orbit prediction precision of the in-orbit satellite.
The inter-satellite ranging simulator is used for generating simulation information of all inter-satellite ranging. Firstly, a ranging time sequence of each satellite is obtained through a satellite building chain table. In the satellite chain building table designed by the invention, the satellite completes two-way ranging with other satellites every 3s, and the number of ranging satellites is not more than 11. And then, according to the time sequence of each satellite measurement and when the light row is considered, generating a standard orbit of each satellite ranging time by using a standard orbit generator so as to obtain the ranging information between the satellites. Finally, the receiving and transmitting time delay error, the relativistic effect error, the phase center deviation, the ionosphere troposphere time delay and other correction errors and corresponding distance measurement noise are added into each inter-satellite distance measurement information respectively, and corresponding inter-satellite distance measurement simulation information can be obtained.
The same orbit region centralized autonomous navigation algorithm runs in the Loongson 1E300 processor to evaluate the processing capacity of the algorithm running on the satellite. And the Loongson upper computer is used for controlling the operation of the Loongson processor and evaluating the orbit determination precision and the algorithm stability of the centralized autonomous navigation algorithm in the same orbit region by acquiring the output data of the Loongson processor.
According to the Beidou constellation satellite deployment planning, the simulation scene of 24 MEO Beidou constellation satellites is designed, the operation orbits of the satellites are designed according to the planning orbits, and the serial numbers of the satellites are simplified to be numbers 1-24. And designing an autonomous navigation algorithm to run for 5 min. In 1 st and 2min in the period, each sub-satellite completes two-way distance measurement with other satellites, self-orbit information prediction and information transmission work, and the main satellite completes orbit information prediction of each satellite in the different orbital planes. In 3 rd and 4 th min, the main satellite completes the processing of the ranging information and the updating of the orbit information of each sub-satellite. And in the 5 th min, the main satellite transmits the updated orbit information of the sub-satellite to each sub-satellite, and the sub-satellite completes the updating of the orbit information of the sub-satellite. The simulation time of the designed autonomous navigation algorithm is 30 days.
The method firstly completes the evaluation of the satellite orbit prediction algorithm. The precision of each satellite orbit prediction algorithm can be respectively obtained by comparing with standard orbit information generated by a standard orbit generator.
Fig. 5 shows the error of the orbit prediction information URE of each satellite of the whole network. The horizontal axis is the serial number of each satellite, the vertical axis is the forecast URE of each constellation satellite orbit, and the forecast errors of the satellites based on different dynamic models are represented by different colors in the graph. As shown in fig. 5, when the light pressure errors of 0%, 2%, 5%, and 10% are introduced, the mean values of URE errors of the orbit prediction URE of the 30-day constellation satellite are 67m, 111m, 219m, and 422m, respectively.
Figure BDA0002474744040000171
In the formula: and delta R is a track radial error, delta T is a track tangential error, and delta N is a track normal error. And performing simulation calculation on the precision of the centralized autonomous navigation algorithm of the same-rail area by using the simulation environment and the scene. Meanwhile, in the same environment and scene, the precision of the traditional distributed autonomous navigation algorithm is also simulated and calculated to form comparison with the centralized autonomous navigation algorithm of the same orbit region.
In the algorithm for centralized autonomous navigation in the same-orbit region, the algorithm performs centralized processing on inter-satellite link ranging values acquired by satellites in the same-orbit plane so as to realize centralized determination of orbit information of the satellites in the same orbit. Meanwhile, because a small number of distance measurement values of different-orbit satellites and satellites in the orbit surface exist in the inter-satellite distance measurement information, the orbit information of the different-orbit satellites can be correspondingly calculated and used for forecasting the orbit information of the different-orbit satellites at the next moment. In the period, the average number of the links among the satellites in the orbital plane is 10, and the average number of the links among the satellites outside the orbital plane is 3. In the distributed autonomous navigation algorithm, each satellite only processes the ranging value of the link between the satellites so as to complete the determination of the satellite orbit. In the period, the average number of links among satellites is 10. Fig. 6 and fig. 7 show the autonomous navigation precision of the same-orbit region centralized algorithm and the autonomous navigation precision of the distributed algorithm based on different orbit prediction precisions, respectively. In fig. 6 to 7, the horizontal axis represents the serial number of each satellite, the vertical axis represents the URE of the navigation information of each satellite in the constellation, and the navigation errors of the satellites based on different dynamic models are represented by different colors in the diagrams.
Because the centralized algorithm can obtain the global optimal solution, the orbit updating information of each constellation satellite on the same orbit plane with extremely high precision can be obtained by adopting the same orbit region centralized autonomous navigation algorithm provided by the invention. As can be seen from the simulation results in fig. 6, when the URE mean values of the orbit prediction URE of the 30-day constellation satellite are 67m, 111m, 219m, and 422m, respectively, the URE mean values of the constellation co-orbital satellite are 0.12m, 0.12m, 0.17m, and 0.17m, respectively, by using the co-orbital region centralized navigation algorithm. For each constellation satellite outside the orbital plane, because the acquired observation information is less, compared with the constellation satellite with the same orbital plane, the estimation error of the satellite navigation information outside the orbital plane is slightly larger, and the mean values of the URE errors of the satellites outside the orbital plane are respectively 0.28m, 0.30m, 0.39m and 0.40 m. Although the orbit determination error of the satellite out of the orbit is amplified relative to the satellite with the same orbit plane in the constellation, the orbit determination accuracy is still far better than that of the distributed autonomous navigation algorithm. As shown in fig. 7, when the mean values of URE error prediction of 30-day constellation satellite orbit are 67m, 111m, 219m and 422m, respectively, the mean values of URE maximum error of each satellite by using the distributed autonomous navigation algorithm are 0.43m, 1.05m, 1.81m and 3.87m, respectively. Compared with the same-orbit region centralized navigation algorithm provided by the invention, the distributed autonomous navigation algorithm has obviously poorer precision. And as the orbit prediction error of each constellation satellite increases, the orbit determination error of each constellation satellite also increases obviously, so that the distributed autonomous navigation algorithm is more easily influenced by the orbit prediction precision.
Through the analysis, the orbit determination URE error of each satellite in the same orbit is less than 0.2m by utilizing the autonomous navigation algorithm of the same orbit region designed by the invention. And the centralized autonomous navigation algorithm in the same orbit region is less influenced by the forecast error of each satellite orbit, and the precision of the method is far superior to the orbit determination precision of the traditional distributed autonomous navigation algorithm.
The method and the device finish the simulation evaluation of the algorithm performance based on the built in-satellite simulation environment while finishing the precision evaluation of the centralized autonomous navigation algorithm of the co-orbit region. And according to the simulation result, the inter-satellite distance measurement simulator completes the simulation distance measurement of each inter-satellite link according to each satellite distance measurement time sequence in the link establishment planning table, and the time is 33 s. The Loongson 1E300 chip starts to collect and process the distance measurement information forecast information in the 3 rd min of the period and operates the same-orbit region centralized autonomous navigation algorithm, and corresponding calculation is completed in about 38 s. The inter-satellite distance measurement time and the algorithm operation processing time both meet the requirement of the algorithm operation period. And, the algorithm completes 30-day continuous tests, so the algorithm can stably run in the on-satellite environment for a long time.
The invention designs a Beidou satellite autonomous navigation algorithm with centralized same-orbit regions based on the high-speed data communication and high-speed operation processing capacity of the latest Beidou satellite and considering the defects of difficult communication of different-orbit surfaces of laser terminals, inconvenient pointing switching and the like. The technical effects are as follows:
1) through on-satellite configuration analysis of the latest Beidou satellite, the satellite has high-speed inter-satellite and intra-satellite communication capacity, high-speed inter-satellite pointing switching capacity, accurate inter-satellite distance measurement capacity and strong on-satellite operation processing capacity. The satellite on-board configuration can completely meet the performance requirements required by the centralized autonomous navigation algorithm.
2) The defects that the communication of different rail surfaces of the laser terminal is difficult, the pointing switching is inconvenient and the like are considered, and a centralized autonomous navigation algorithm of the same rail area is designed. The algorithm combines the flexible pointing switching characteristic of the link between Ka satellites and the high-speed communication characteristic of the laser link, adopts the Ka link to realize the rapid two-way communication and ranging between the satellite and a plurality of other satellites, adopts the laser link to realize the inter-satellite link between the satellite and two adjacent satellites in the same orbit, and further realizes the high-speed communication of the information of the satellites in the same orbit. The design method for building the link can be used for intensively acquiring and processing the inter-satellite ranging information of the same-orbit satellite, so that a centralized autonomous navigation algorithm can be realized on the satellite.
3) Compared with a distributed autonomous navigation algorithm, the centralized autonomous navigation algorithm in the same orbit region has higher precision and is less interfered by satellite forecast precision errors and noise. Tests show that when the URE mean values of satellites in 30-day orbits of the constellation satellites are 67m, 111m, 219m and 422m respectively, the URE mean values of the satellites in the same orbit are smaller than 0.2m by applying a same-orbit region centralized autonomous navigation algorithm.
4) The invention builds a simulation environment consistent with the in-orbit satellite. And operating the same-track area centralized autonomous navigation algorithm in the simulation environment. Through simulation tests, the algorithm 33s can complete simulation ranging of links among all satellites, 38s can complete acquisition of data among the satellites and operation of the regional centralized autonomous navigation algorithm, and the algorithm can stably run for 30 days continuously. This test also further verifies the feasibility of the algorithm to run in orbit.
In summary, the above embodiments have described in detail different configurations of the autonomous navigation method for satellites with constellation and orbital planes, but the present invention is not limited to the configurations listed in the above embodiments, and any configuration that is transformed based on the configurations provided in the above embodiments is within the scope of the present invention. One skilled in the art can take the contents of the above embodiments to take a counter-measure.
< example two >
This embodiment provides a constellation co-orbital satellite autonomous navigation system, including a main satellite and a plurality of sub-satellites in each orbital plane in the constellation, wherein: the method comprises the steps that bidirectional ranging information obtained by each sub-satellite in the orbital plane is processed in a centralized mode through a main satellite, and navigation information of each satellite in the orbital plane is obtained; each sub-satellite adopts a Ka inter-satellite link to realize inter-satellite ranging between the satellite and other satellites, and the sub-satellites realize switching link establishment ranging with surrounding satellites by switching Ka antenna phased array phases to acquire inter-satellite ranging information of the satellite and each satellite on the same orbital plane and inter-satellite ranging information of the satellite and satellites on different orbital planes; the satellite-borne laser terminals installed on the sub-satellites adopt laser links and two adjacent satellites in the same orbit to build the links, so that high-speed data communication between the satellites in the same orbit plane is realized; and each sub-satellite in the same orbital plane transmits information into the main satellite, and the main satellite realizes the accurate orbit determination of each satellite in the orbital plane by utilizing a centralized navigation algorithm.
In the constellation co-orbital satellite autonomous navigation method and the navigation system provided by the invention, the pointing switching flexibility characteristic of the Ka inter-satellite link and the high-speed communication characteristic of the laser link are utilized, the defects of difficult communication of the different orbital planes of the laser terminal, inconvenience in pointing switching and the like are overcome, and algorithm design is adopted to transmit the Ka bidirectional ranging information acquired by each satellite in the orbital plane into the main satellite of the orbital plane by utilizing the laser inter-satellite link, so that the ranging information is processed in a centralized manner, and the orbital information of each satellite in the orbital plane is updated.
The Beidou satellite initially has the inter-satellite and intra-satellite high-speed communication capability and the intra-satellite high-speed operation processing capability, so that the centralized autonomous navigation algorithm research can be developed to improve the autonomous navigation precision of the Beidou satellite. The invention provides a Beidou satellite autonomous navigation algorithm with centralized same orbit regions based on latest Beidou satellite configuration. In addition, the invention also builds a simulation environment consistent with the intra-satellite environment to verify the accuracy and performance of the algorithm. Simulation results show that the same-orbit region centralized autonomous navigation algorithm can stably run in an intra-satellite simulation environment, and the navigation precision of the algorithm is far superior to that of a distributed autonomous navigation algorithm.
The invention designs a same-orbit satellite region centralized orbit determination algorithm. The algorithm adopts Ka link to realize the rapid two-way communication and distance measurement between the satellite and other satellites, and adopts laser link to realize the link establishment between the satellite and two adjacent satellites in the same orbit, thereby realizing the high-speed communication of the information of the satellites in the same orbit. The inter-satellite distance measurement information of the satellite in the orbit and other satellites is transmitted to the main satellite through the laser link in a centralized manner, and the main satellite updates the navigation information of the satellite in the orbit in a centralized manner and sends the navigation information to each satellite. The process is repeated along with the updating period of the algorithm, so that the accurate orbit determination of the satellite in the same orbit is realized.
With the continuous upgrading of on-board equipment, the communication capacity and the operation processing capacity of a new generation of Beidou satellite are greatly improved compared with those of the prior satellite. Specifically, Beidou satellites CA34 and CA35 carry the Loongson 1E300 processor for the first time and complete the on-orbit application test of the Beidou satellites. The peak frequency of the Loongson 1E300 processor can reach 200MHz, and the available memory can reach 512M. Meanwhile, the Loongson processor is provided with a spacewire bus interface and can be combined with a spacewire bus carried together to realize the intra-satellite communication with the maximum speed of 200 Mbps. Moreover, China has already completed the demonstration work of Beidou satellite networking based on the laser intersatellite link, and in 2017, a plan for adding the laser intersatellite link function to the Beidou satellite is provided. The current satellite-borne laser terminal has the capability of high-speed communication at 1Gbps, and if the satellite-borne laser terminal is used on a satellite, high-speed transmission of inter-satellite information can be realized. At present, the Beidou satellite onboard configuration has the capacity of realizing high-speed data communication and high-speed operation processing required by a centralized orbit determination algorithm. Therefore, the invention designs the on-satellite centralized autonomous navigation algorithm and researches the feasibility of the algorithm based on the configuration.
Meanwhile, in order to evaluate the feasibility of the application of the centralized autonomous navigation algorithm in the same orbit region to the Beidou satellite, the invention also builds a simulation environment the same as the on-satellite environment of the Beidou satellite, operates the algorithm in the simulation environment and carries out simulation verification on the performance and the stability of the algorithm.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.

Claims (9)

1. A constellation co-orbital satellite autonomous navigation method is characterized by comprising the following steps:
arranging a main satellite and a plurality of sub-satellites in each orbital plane in a constellation, and carrying out centralized processing on the two-way ranging information obtained by each sub-satellite in the orbital plane through the main satellite to obtain navigation information of each satellite in the orbital plane;
each sub-satellite adopts a Ka inter-satellite link to execute inter-satellite ranging of the satellite and other satellites, and the sub-satellites realize switching link establishment ranging with surrounding satellites by switching Ka antenna phased array phases so as to obtain inter-satellite ranging information of the satellite and each satellite on the same orbital plane and inter-satellite ranging information of the satellite and satellites on different orbital planes;
each sub-satellite adopts a laser link and two adjacent satellites in the same orbit to build a link so as to execute high-speed data communication between the satellites in the same orbit;
and each sub-satellite in the same orbital plane transmits information into the main satellite, and the main satellite executes accurate orbit determination of each satellite in the orbital plane by using a centralized navigation algorithm of the same orbital region.
2. The autonomous navigation method for constellation co-orbital plane satellites according to claim 1, wherein the autonomous navigation method for constellation co-orbital plane satellites further comprises:
each sub-satellite in the constellation finishes the forecast of the satellite navigation information, each sub-satellite finishes the two-way ranging with other satellites by using the link between Ka satellites, and the satellite finishes the receiving of the ranging information of other satellites by the communication of the link between Ka satellites; the inter-satellite ranging information and the satellite navigation forecast information are transmitted to the same-orbit main satellite by the sub-satellite through the laser link;
after receiving the inter-satellite ranging information and the local satellite navigation forecast information transmitted by the sub-satellites, the main satellite corrects the acquired inter-satellite ranging information to obtain the required autonomous navigation observation information;
the main satellite forecasts the orbit information of the different orbit satellites which do not transmit the navigation forecast information;
the main satellite substitutes the autonomous navigation observation information and the satellite navigation forecast information into a filtering updating algorithm to obtain the updating of the orbit information of the co-orbiting sub-satellite;
the updated orbit information of the same orbit sub-satellite is respectively transmitted to each sub-satellite by the main satellite, so that each sub-satellite completes the updating of the orbit information of the satellite.
3. The autonomous navigation method for satellites in accordance with claim 2, wherein the step of performing satellite navigation information prediction for each sub-satellite in the constellation comprises:
each sub-satellite in the constellation adopts an on-satellite autonomous forecasting method, and the satellite dynamics is modeled on the satellite to obtain the forecasting information of the satellite orbit at the moment;
the track information forecasting model of the centralized navigation algorithm is obtained by the formula (1)
Figure FDA0003609677610000021
In the formula, R SAT And V SAT Is the satellite position and velocity vector under the inertial system, a SAT As a vector of the acceleration of the satellite,
Figure FDA0003609677610000022
and
Figure FDA0003609677610000023
process noise information of satellite position and velocity, respectively;
the satellite is acted by earth central gravity, earth non-spherical gravity, sun-moon-trisomy gravity and sunlight pressure perturbation force;
calculating satellite acceleration information a according to formula (2) SAT ；
a SAT ＝a TB +a NS +a NB +a SRP (2)
Wherein: computing the acceleration a of the earth center gravity of the satellite by adopting a 4-x-4-order WGS84 gravity model TB And acceleration a of the earth's non-spherical gravitational force NS ；
JPL DE405 ephemeris is adopted to calculate the position of the sun and the moon and calculate the acceleration a of the gravity of the satellite in the sun, the moon and the moon NB ；
Calculating the solar light pressure dynamic acceleration a of the satellite by adopting a ball model SRP 。
4. The autonomous navigation method for satellites in the same orbital plane of a constellation according to claim 3, wherein each sub-satellite completes the two-way ranging with other satellites by using the link between Ka satellites, and the receiving of the ranging information of other satellites by the satellite through the communication of the link between Ka satellites comprises:
setting the satellite at t 1 Time of day t 2 The inter-satellite distance measurement of the satellite A and the satellite B and the inter-satellite distance measurement of the satellite B and the satellite A are respectively finished at the moment, and the distance measurement values are respectively rho AB (t 1 ) And rho BA (t 2 )；
Establishing an inter-satellite ranging model to obtain a relation between an inter-satellite ranging value and satellite orbit information, as shown in formula (3):
Figure FDA0003609677610000024
in the formula, δ t A ，δt B Are respectively defendedThe clock difference between the satellite A and the satellite B, delta t is the signal light travel time between the satellites,
Figure FDA0003609677610000025
respectively represent the errors of the two-star transceiving time delay,
Figure FDA0003609677610000026
respectively, ranging error correction terms including phase center deviation, relativistic effect error, troposphere and ionosphere delay error, epsilon AB ，ε BA Observing noise for two-way ranging;
removing the ranging error correction term according to an error model;
the two-star receiving and transmitting time delay error is merged into the clock error to obtain the two-star t 1 Time and t 2 The inter-satellite ranging information model related to the time orbit information and the clock error information is shown in formula (4):
Figure FDA0003609677610000031
in the formula (I), the compound is shown in the specification,
Figure FDA0003609677610000032
error correction values of the two inter-satellite ranging information are respectively obtained;
through the forecast estimation of the double-satellite orbit and the clock error information, the receiving and sending time of the corrected two-way distance measurement information between the satellites is reduced to the time t to be updated k As shown in equation (5):
Figure FDA0003609677610000033
separating position information and clock error information contained in inter-satellite ranging information to obtain autonomous navigation orbit observed quantity for updating orbit information
Figure FDA0003609677610000034
As shown in equation (6):
Figure FDA0003609677610000035
5. the autonomous navigation method for satellites with constellation and orbital planes as recited in claim 4, wherein the step of modifying the collected inter-satellite range information to obtain the required autonomous navigation observation information comprises:
and (3) performing first-order approximation on the formula (6) at the satellite orbit prediction estimation point by using a Taylor formula to obtain a two-satellite ranging observation formula (7):
Figure FDA0003609677610000036
in the formula
Figure FDA0003609677610000037
Are each t k The predicted position vectors for satellite a and satellite B at time,
Figure FDA0003609677610000038
first order position information corrections, dis, for satellite A and satellite B, respectively AB (t k ) Is t k Orbit prediction distance, dis, between time satellites A, B AB (t k ) Calculated from equation (8):
Figure FDA0003609677610000041
6. the autonomous navigation method for satellites in the same constellation and orbital plane as claimed in claim 5, wherein the step of the main satellite substituting the autonomous navigation observation information and the satellite navigation forecast information into the filtering updating algorithm to obtain the updating of the orbital information of the sub-satellites in the same constellation and orbital plane comprises the steps of:
the centralized navigation algorithm filtering model is formula (9):
Figure FDA0003609677610000042
in the formula, a state equation and an observation equation of a centralized navigation algorithm are respectively shown; phi (t) k ,t k-1 ) Is the last moment t k-1 To the time t to be updated k A state transition matrix of (a);
X k-1 ＝(R SAT (t k-1 ),V SAT (t k-1 ) Represents the result of the satellite orbit filter update at the time k-1,
Figure FDA0003609677610000043
is based on X k-1 Obtaining track forecast information at the kth moment;
comparing the difference value of the collected observed quantity and the observed quantity estimation obtained by calculation of an observation equation in the centralized autonomous navigation algorithm, and obtaining a first-order correction value delta x of the orbit information at the kth moment by popularizing a Kalman filtering algorithm k ＝(ΔR SAT (t k ),ΔV SAT (t k ))；
The first order correction term Deltax k Adding to forecast information
Figure FDA0003609677610000044
Obtaining the updated filtering result X at the time of k k And after cyclic iteration of a plurality of periods, the approximation of the real satellite orbit information is gradually completed by updating the output satellite orbit information through the Kalman filtering algorithm.
7. The autonomous navigation method for satellites in the same constellation and orbital plane as in claim 1, wherein each satellite is configured with a Ka intersatellite link load, and the Ka intersatellite link is used for switching the pointing direction between the planets and measuring the distance between the planets; changing the beam phase of the Ka phased array antenna to change the beam direction of the Ka antenna array; according to the set satellite link establishment plan, each satellite performs inter-satellite distance measurement between the satellite and a plurality of other satellites by changing the beam direction of the Ka phased array antenna;
each satellite is configured with laser inter-satellite link load, after initial alignment, each satellite and a satellite adjacent to the same orbital plane of the constellation keep building a link for a long time, and the communication rate of the laser inter-satellite link load is 1Gbps of inter-satellite high-speed communication;
each satellite is provided with a processor with high-speed operation processing capacity, the peak frequency of the processor is 200MHz, the fixed-point peak performance is 400MIPS, the peak floating-point performance is 200MFLOPS, and the available internal memory reaches 512M;
a spacewire high-speed bus interface is arranged in each satellite, and high-speed communication in the satellite is carried out through the spacewire high-speed bus; the spacewire bus communication rate is 200 Mbps.
8. The autonomous navigation method of constellation co-orbital plane satellites according to claim 7, wherein the autonomous navigation method of constellation co-orbital plane satellites further comprises:
building an intra-satellite simulation environment to verify a satellite co-orbit area centralized autonomous navigation algorithm;
the standard orbit generator generates standard orbits of all satellites of the constellation, and the standard orbits are used for generating inter-satellite ranging simulation values and used as nominal values to evaluate the precision of the satellite navigation information obtained by the algorithm;
the orbit prediction simulator generates orbit predictions of the current period of the sub-satellites in the orbit plane at the beginning of the algorithm period and sends the orbit predictions to the processor;
the inter-satellite ranging simulator obtains the ranging time sequence of each satellite through a satellite building chain table, generates a standard orbit of each satellite ranging time by using a standard orbit generator according to each satellite measuring time sequence and considering light travel time so as to obtain each inter-satellite ranging information, and respectively adds a transceiving delay error, a relativistic effect error, a phase center deviation, an ionosphere troposphere delay and corresponding ranging noise into each inter-satellite ranging information so as to obtain corresponding inter-satellite ranging simulation information;
the processor runs a centralized autonomous navigation algorithm of the same-rail area;
and the upper computer is used for controlling the processor to operate and evaluating the orbit determination precision and the algorithm stability of the centralized autonomous navigation algorithm in the same orbit region by acquiring the data output by the processor.
9. The constellation co-orbital plane satellite autonomous navigation system comprises a main satellite and a plurality of sub-satellites in each orbital plane in a constellation, wherein:
the method comprises the steps that bidirectional ranging information obtained by each sub-satellite in the orbital plane is processed in a centralized mode through a main satellite, and navigation information of each satellite in the orbital plane is obtained;
each sub-satellite adopts a Ka inter-satellite link to execute inter-satellite ranging of the satellite and other satellites, and the sub-satellites execute switching link establishment ranging with surrounding satellites by switching Ka antenna phased array phases so as to acquire inter-satellite ranging information of the satellite and each satellite on the same orbital plane and inter-satellite ranging information of the satellite and satellites on different orbital planes;
the satellite-borne laser terminals installed on the sub-satellites adopt laser links and two adjacent satellites in the same orbit to build the links so as to execute high-speed data communication between the satellites in the same orbit;
and each sub-satellite in the same orbital plane transmits information into the main satellite, and the main satellite performs accurate orbit determination of each satellite in the orbital plane by using a centralized navigation algorithm.
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