CN112666583A - Single-shot orbit recursion method and system adaptive to GNSS receiver output state - Google Patents
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Abstract
The invention provides a single-shot orbit recursion method and a system adapting to the output state of a GNSS receiver, comprising the following steps: parameter selection: judging the validity of the positioning identifier of the GNSS receiver, and selecting an output parameter of the GNSS receiver; and (3) parameter judgment: judging the validity of the selected output parameters; an updating step: calculating and updating the stored value of the pseudo-flat root number of the GNSS receiver according to the effective output parameters of the judgment result; and (3) recursion selection: selecting a stored value of the pseudo-flat root number of the GNSS receiver or an upper injection parameter as a recursion initial value; and (3) recursion step: and carrying out track recursion according to the recursion initial value. The method can adapt to the condition that the GNSS receiver discontinuously outputs positioning data or orbit determination data, realizes high-reliability autonomous orbit recursion, reduces the frequency of ground maintenance, greatly improves the precision of satellite orbit recursion, and provides important input for satellite in-orbit autonomous program control, earth-to-earth pointing tracking angle calculation and the like.
Description
Technical Field
The invention relates to the technical field of satellite overall design, in particular to a high-precision single-shot orbit recursion method and system suitable for different output states of a GNSS receiver.
Background
The ground remote sensing or the communication satellite needs to perform ground orientation attitude control in orbit, or the satellite needs to realize related program control functions according to the position information of the satellite, and both rely on the orbit position information of the satellite. In addition, as the data transmission code rate of the satellite is improved, more and more satellite earth data transmission schemes are changed into spot beam data transmission schemes, and more accurate position information of the satellite is needed. The traditional track recursion method is characterized in that the track root which is regularly injected on the ground is taken as a basic value, a quasi-flat root method is adopted to extrapolate the track flat root, or a numerical integration method is adopted to carry out integral recursion on the instantaneous root, the recursion precision is not high, the precision after 24h recursion is usually only km grade, in order to keep a certain precision, maintenance is carried out every 12 hours or 24 hours on the ground regularly, and the defects of low precision, high use cost and the like are overcome.
With the maturity of global navigation satellite systems, low earth orbit satellites are generally equipped with GNSS receivers. The GNSS receiver can output the position information of the satellite in real time in orbit, and part of the receivers can also output the orbit parameters of the satellite. When the GNSS receiver works normally, the position accuracy index does not change obviously along with the lapse of the annotating time, and the RMS position accuracy can reach within 10 m. The direct application of the orbit parameters of the GNSS receiver has many problems that the transmission delay needs to be considered, the output state of the GNSS receiver is possibly unstable, the power consumption of part of small satellites is limited to restrict the GNSS receiver to be incapable of continuously starting and the like.
At present, no description or report similar to the technology of the invention is found, and similar data at home and abroad are not collected, so that the orbit recursion research for adapting to different output states of the GNSS is very little.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a single-shot orbit recursion method and a single-shot orbit recursion system which are adaptive to the output state of a GNSS receiver.
The single-shot orbit recursion method adaptive to the output state of the GNSS receiver comprises the following steps:
parameter selection: judging the validity of the positioning identifier of the GNSS receiver, and selecting an output parameter of the GNSS receiver;
and (3) parameter judgment: judging the validity of the selected output parameters;
an updating step: calculating and updating the stored value of the pseudo-flat root number of the GNSS receiver according to the effective output parameters of the judgment result;
and (3) recursion selection: selecting a stored value of the pseudo-flat root number of the GNSS receiver or an upper injection parameter as a recursion initial value;
and (3) recursion step: and carrying out track recursion according to the recursion initial value.
Preferably, the parameter selecting step includes: the GNSS receiver is continuously started or only started for a period of time within a certain period of time, and only the earth fixed system positioning data is output or the earth fixed system positioning data and the inertia system orbit parameters are output simultaneously.
Preferably, the parameter judging step includes:
selecting the number of the ground injection roots as an initial recursion value of the internal orbit;
recursion of the internal orbit recursion initial value to the parameter time of the GNSS receiver by using a quasi-flat root method;
if the GNSS receiver input parameter is selected as the ground fixation system positioning data, calculating the positioning data by using the track parameter obtained by recursion, calculating the absolute distance deviation between the positioning data and the GNSS receiver positioning data, and comparing the absolute distance deviation with a judgment threshold value to judge the effectiveness;
if the input parameters of the GNSS receiver are the orbit parameters of the inertial system, calculating the absolute distance deviation of the two-point space position after calculating the position of the inertial system by recursion orbit parameters of the GNSS receiver and the number of quasi-flat orbits, and comparing the absolute distance deviation with a judgment threshold value to judge the effectiveness, or setting a plurality of judgment threshold values to directly compare different orbit parameters;
and when the deviation is smaller than the judgment threshold value, the output of the GNSS receiver is considered to be effective, otherwise, the output is considered to be invalid.
Preferably, the updating step includes:
the stored value of the GNSS receiver quasi-flat root stores the GNSS receiver quasi-flat root calculated according to the GNSS receiver output parameters.
Preferably, the step of recursion comprises:
and the track recursion adopts a quasi-flat root method for recursion.
The invention provides a single-shot orbit recursion system adapting to the output state of a GNSS receiver, which comprises:
a parameter selection module: judging the validity of the positioning identifier of the GNSS receiver, and selecting an output parameter of the GNSS receiver;
a parameter judgment module: judging the validity of the selected output parameters;
an update module: calculating and updating the stored value of the pseudo-flat root number of the GNSS receiver according to the effective output parameters of the judgment result;
a recurrence selection module: selecting a stored value of the pseudo-flat root number of the GNSS receiver or an upper injection parameter as a recursion initial value;
a recursion module: and carrying out track recursion according to the recursion initial value.
Preferably, the parameter selection module comprises: the GNSS receiver is continuously started or only started for a period of time within a certain period of time, and only the earth fixed system positioning data is output or the earth fixed system positioning data and the inertia system orbit parameters are output simultaneously.
Preferably, the parameter judgment module includes:
selecting the number of the ground injection roots as an initial recursion value of the internal orbit;
recursion of the internal orbit recursion initial value to the parameter time of the GNSS receiver by using a quasi-flat root method;
if the GNSS receiver input parameter is selected as the ground fixation system positioning data, calculating the positioning data by using the track parameter obtained by recursion, calculating the absolute distance deviation between the positioning data and the GNSS receiver positioning data, and comparing the absolute distance deviation with a judgment threshold value to judge the effectiveness;
if the input parameters of the GNSS receiver are the orbit parameters of the inertial system, calculating the absolute distance deviation of the two-point space position after calculating the position of the inertial system by recursion orbit parameters of the GNSS receiver and the number of quasi-flat orbits, and comparing the absolute distance deviation with a judgment threshold value to judge the effectiveness, or setting a plurality of judgment threshold values to directly compare different orbit parameters;
and when the deviation is smaller than the judgment threshold value, the output of the GNSS receiver is considered to be effective, otherwise, the output is considered to be invalid.
Preferably, the update module includes:
the stored value of the GNSS receiver quasi-flat root stores the GNSS receiver quasi-flat root calculated according to the GNSS receiver output parameters.
Preferably, the recursion module comprises:
and the track recursion adopts a quasi-flat root method for recursion.
Compared with the prior art, the invention has the following beneficial effects:
1. the current orbit recursion can be accurately realized, and the recursion precision is superior to 10m when the GNSS receiver is effective;
2. the method can adapt to the scene of the intermittent work of the GNSS, and has no obvious influence on the recursion precision;
3. the GNSS receiver can be allowed to be invalid for a long time, and can automatically return to the traditional recursion method without the risk of divergence;
4. the recursion algorithm can be compatible with a traditional recursion method, and the output of the GNSS receiver can be shielded.
The method can adapt to the condition that the GNSS receiver discontinuously outputs positioning data or orbit determination data, realizes high-reliability autonomous orbit recursion, reduces the frequency of ground maintenance, greatly improves the precision of satellite orbit recursion, and provides important input for satellite in-orbit autonomous program control, earth-to-earth pointing tracking angle calculation and the like.
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Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a main flow chart of a high-precision single-shot orbit recursion method adapted to different output states of a GNSS receiver according to the present invention;
FIG. 2 is a flowchart illustrating a method for determining an output state of a GNSS receiver;
FIG. 3 is a flowchart illustrating a method for determining validity of an output parameter of a GNSS receiver;
FIG. 4 is a flowchart illustrating updating stored values of pseudo-flat parameters of a GNSS receiver;
FIG. 5 is a flow chart of selecting a recurrence initial value based on settings and states;
FIG. 6 is a flow chart of a recursive operation using a quasi-flat root method.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the high-precision single-shot orbit recursion method adapted to different output states of a GNSS receiver provided by this embodiment includes the following steps:
step 1, as shown in fig. 2, the current operating state of the GNSS receiver is determined by using identifiers such as positioning and orbit determination output by the GNSS receiver, and the current operating state is processed respectively for states such as the GNSS receiver does not operate, only outputs the local fixed-system positioning data, or outputs the local fixed-system positioning data and the inertial system orbit parameters at the same time.
Step 2, as shown in fig. 3, firstly, using the number of injection roots on the ground as an internal orbit recursion initial value, and recursion of the orbit parameter initial value to the GNSS receiver parameter time by using a quasi-flat root method. If the output parameters of the GNSS receiver are only the ground fixed positioning data, the orbit parameters obtained by recursion of the initial number are used for calculating the positioning data, and the absolute distance deviation between the calculated positioning data and the output positioning data of the GNSS receiver is compared with a judgment threshold value to be used as validity judgment. If the input parameters of the GNSS receiver are the orbit parameters of the inertial system, calculating the absolute distance deviation of the two-point space position after calculating the position of the inertial system by the orbit parameters of the GNSS receiver and the recursion orbit parameters of the pseudo-flat number respectively, and comparing the absolute distance deviation with a judgment threshold value to judge the effectiveness. And when the deviation is smaller than the judgment threshold value, the GNSS receiver is considered to output effectively, otherwise, the GNSS receiver is considered to output inefficiently, and the corresponding identification position is collocated.
And 3, converting the position speed of the geostationary system or the orbit parameter of the inertial system output by the GNSS receiver into an analog-flat number by using the algorithm flow shown in FIG. 4.
Step 4, selecting an initial value of track recursion according to setting and states by utilizing an algorithm flow shown in FIG. 5;
and 5, performing track recursion operation by using the initial value of the pseudo-flat number by using the algorithm flow shown in FIG. 6.
The calculation methods of P1, P2 and P3 involved in the process are respectively the following calculation methods, and the conversion of other coordinate conversion, track parameters and position speed are all general conversion processes, which can be referred to relevant track design teaching materials.
The main algorithm flow for calculating the pseudo-flat root P1 at the time t is as follows:
Δt＝t-t0 (1)
at＝a0 (2)
it＝i0 (3)
ωt＝ω0+ω1Δ t (to be changed to 0-2 π) (6)
λt＝ωt+Mt(to be changed to 0. about.2. pi.) (8)
ξt＝ξ0cos(ω1Δt)+(η0+ξ2/ω1)sin(ω1Δt) (10)
ηt＝(η0+ξ2/ω1)cos(ω1Δt)-ξ0sin(ω1Δt)-ξ2/ω1 (11)
In the formula: aa2＝66063.10827；aa3＝657008.4564；
ξ0＝e0cosω0；η0＝-e0sinω0(ii) a a, e, i, omega and M respectively represent a satellite orbit semi-major axis, an orbit eccentricity, an orbit inclination angle, a rising intersection declination, an argument of the near place and an argument of the near place; t represents the current time, and the subscript t represents the orbit parameter at the recursion time t; the subscript 0 represents the track recurrence reference parameter.
The main algorithm flow for calculating the instantaneous root P2 at the time t is as follows:
ωs＝arctan(-ηs/ξs) If xi iss< 0, then ωs＝ωs+ pi (to be changed to 0-2 pi) (19)
Ms＝λs-ωs (20)
us＝fs+ωs(to be changed to 0. about.2. pi.) (23)
In the formula: f, u represent true perigee and latitude argument, respectively.
The main algorithm flow for calculating the pseudo-flat root P3 at the time t by an iterative method is as follows:
ωtp＝arctan(-ηtp/ξtp) If xi istp< 0, then ωtp＝ωtp+π (31)
Mtp＝λtp-ωtp(to be converted to 0. about.2. pi.) (32)
In the formula: the subscript sp represents the GNSS instantaneous number, tp represents the GNSS average number,
λsp＝ωsp+Msp，ξsp＝espcosωsp，ηsp＝-espsinωsp
the invention provides a single-shot orbit recursion system adapting to the output state of a GNSS receiver, which comprises:
a parameter selection module: and judging the validity of the positioning identifier of the GNSS receiver, and selecting the output parameters of the GNSS receiver.
A parameter judgment module: and judging the validity of the selected output parameters.
An update module: and calculating and updating the stored value of the pseudo-flat root of the GNSS receiver according to the effective output parameters of the judgment result.
A recurrence selection module: selecting and adopting a GNSS receiver quasi-flat root storage value or an upper injection parameter as a recursion initial value.
A recursion module: and carrying out track recursion according to the recursion initial value.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A single-shot orbit recursion method adapting to an output state of a GNSS receiver is characterized by comprising the following steps:
parameter selection: judging the validity of the positioning identifier of the GNSS receiver, and selecting an output parameter of the GNSS receiver;
and (3) parameter judgment: judging the validity of the selected output parameters;
an updating step: calculating and updating the stored value of the pseudo-flat root number of the GNSS receiver according to the effective output parameters of the judgment result;
and (3) recursion selection: selecting a stored value of the pseudo-flat root number of the GNSS receiver or an upper injection parameter as a recursion initial value;
and (3) recursion step: and carrying out track recursion according to the recursion initial value.
2. The method of claim 1, wherein the step of selecting parameters comprises: the GNSS receiver is continuously started or only started for a period of time within a certain period of time, and only the earth fixed system positioning data is output or the earth fixed system positioning data and the inertia system orbit parameters are output simultaneously.
3. The method of claim 1, wherein the step of determining the parameters comprises:
selecting the number of the ground injection roots as an initial recursion value of the internal orbit;
recursion of the internal orbit recursion initial value to the parameter time of the GNSS receiver by using a quasi-flat root method;
if the GNSS receiver input parameter is selected as the ground fixation system positioning data, calculating the positioning data by using the track parameter obtained by recursion, calculating the absolute distance deviation between the positioning data and the GNSS receiver positioning data, and comparing the absolute distance deviation with a judgment threshold value to judge the effectiveness;
if the input parameters of the GNSS receiver are the orbit parameters of the inertial system, calculating the absolute distance deviation of the two-point space position after calculating the position of the inertial system by recursion orbit parameters of the GNSS receiver and the number of quasi-flat orbits, and comparing the absolute distance deviation with a judgment threshold value to judge the effectiveness, or setting a plurality of judgment threshold values to directly compare different orbit parameters;
and when the deviation is smaller than the judgment threshold value, the output of the GNSS receiver is considered to be effective, otherwise, the output is considered to be invalid.
4. The method of claim 1, wherein the updating step comprises:
the stored value of the GNSS receiver quasi-flat root stores the GNSS receiver quasi-flat root calculated according to the GNSS receiver output parameters.
5. The method of claim 1, wherein the step of recursion comprises:
and the track recursion adopts a quasi-flat root method for recursion.
6. A single-shot orbit recursion system adapted to GNSS receiver output states, comprising:
a parameter selection module: judging the validity of the positioning identifier of the GNSS receiver, and selecting an output parameter of the GNSS receiver;
a parameter judgment module: judging the validity of the selected output parameters;
an update module: calculating and updating the stored value of the pseudo-flat root number of the GNSS receiver according to the effective output parameters of the judgment result;
a recurrence selection module: selecting a stored value of the pseudo-flat root number of the GNSS receiver or an upper injection parameter as a recursion initial value;
a recursion module: and carrying out track recursion according to the recursion initial value.
7. The GNSS receiver output state adaptive single-shot orbit recursion system of claim 6, wherein the parameter selection module comprises: the GNSS receiver is continuously started or only started for a period of time within a certain period of time, and only the earth fixed system positioning data is output or the earth fixed system positioning data and the inertia system orbit parameters are output simultaneously.
8. The GNSS receiver output state adaptive single-shot orbit recursion system of claim 6, wherein the parameter determination module comprises:
selecting the number of the ground injection roots as an initial recursion value of the internal orbit;
recursion of the internal orbit recursion initial value to the parameter time of the GNSS receiver by using a quasi-flat root method;
if the GNSS receiver input parameter is selected as the ground fixation system positioning data, calculating the positioning data by using the track parameter obtained by recursion, calculating the absolute distance deviation between the positioning data and the GNSS receiver positioning data, and comparing the absolute distance deviation with a judgment threshold value to judge the effectiveness;
if the input parameters of the GNSS receiver are the orbit parameters of the inertial system, calculating the absolute distance deviation of the two-point space position after calculating the position of the inertial system by recursion orbit parameters of the GNSS receiver and the number of quasi-flat orbits, and comparing the absolute distance deviation with a judgment threshold value to judge the effectiveness, or setting a plurality of judgment threshold values to directly compare different orbit parameters;
and when the deviation is smaller than the judgment threshold value, the output of the GNSS receiver is considered to be effective, otherwise, the output is considered to be invalid.
9. The GNSS receiver output state adaptive single-shot orbit recursion system of claim 6, wherein the updating module comprises:
the stored value of the GNSS receiver quasi-flat root stores the GNSS receiver quasi-flat root calculated according to the GNSS receiver output parameters.
10. The GNSS receiver output state adaptive single-shot orbit recursion system of claim 6, wherein the recursion module comprises:
and the track recursion adopts a quasi-flat root method for recursion.
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