CN113297743A - Method for rapidly calculating spatial target transit time period - Google Patents
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Abstract
The invention discloses a method for quickly calculating a spatial target transit time period, which comprises the following steps: setting a track forecast time interval, dividing a given forecast period into fixed lengths according to the forecast time interval, and taking the end time of the forecast period as a forecast time point; calculating the track position of the target at each track forecast time point based on the SGP4/SDP4 track dynamics model, and converting the target track position into an azimuth angle and a pitch angle relative to the station measuring equipment; sequentially finding out accurate entry and exit moments of all targets in a target forecast time period by a binary search method; and generating a target transit time period and forming a target transit result. The invention simplifies the geometric judgment condition of whether the target passes through the border, and is simple and practical; the transit time of the on-orbit target in the forecast period can be rapidly calculated, the execution efficiency is greatly improved, and the problem of time jitter existing in the similar transit time calculation method is solved.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a method for quickly calculating a transit time period of a space target.
Background
In the target transit time period, the number of orbits (namely orbit elements or orbit parameters) at a certain ephemeris time of the orbit target, the position of the ground-based station detection equipment and the field angle of the station detection equipment are utilized to calculate the transit time period of the target passing through the field of view of the station detection equipment in a given time range (forecast period), namely the time of the target entering and exiting the field of view.
On one hand, for cooperative targets, transit prediction and transit period calculation are widely applied to space flight measurement and control networks and ground station measurement systems for capturing space vehicles or satellites so as to establish communication links with the space vehicles or the satellites. For example, for a remote sensing satellite, if the transit time of the satellite cannot be calculated accurately, the ground station cannot track and receive remote sensing data accurately in time. On the other hand, for non-cooperative targets, mainly reconnaissance satellites, reconnaissance of the reconnaissance satellites on sensitive military operations and important military facilities can be effectively avoided through calculating the transit time period of the reconnaissance satellites, interception and electronic feature extraction of space target signals can be achieved in the field of view of the reconnaissance station, and important information bases are provided for military counterreconnaissance and future electronic warfare.
The existing transit time period calculation method based on the SGP4\ SDP4 orbit forecasting dynamics model mainly has the following problems:
1) the geometric judgment condition of whether the target passes through is complex to construct and calculate. The main principle of the existing method for judging the target crossing is as follows: calculating a critical condition that a target track surface is just intersected with the detection equipment by using the number of tracks of the on-orbit target and detection parameters of the detection equipment, establishing a function relation of an included angle between the normal direction of the target track surface and the central axis of a field of view of the detection equipment, and establishing an inequality of an intersection area of the target track surface and the field of view of the detection equipment according to the function relation and the critical angle, wherein the inequality is used as a judgment condition for judging whether the target crosses the border;
2) the calculation steps are redundant, and the algorithm is time-consuming. Forecasting the track second by second, calculating the position of the target, judging whether the position of the target at each moment is in the field of view of the detection equipment, and then obtaining transit information of the target through iterative calculation;
3) the transit time period calculation results are inconsistent. The transit time period calculation method is often closely related to the calculation starting time, and the phenomenon of inconsistent second-level entry and exit time of the same target exists in multiple times of operation. As shown in fig. 3, when the calculated start times are different, an error of 1 second occurs in the inbound or outbound time in the same transit period.
Disclosure of Invention
The invention aims to solve the problems and provide a method for quickly calculating a spatial target transit time period, which comprises the following steps:
s1, setting track forecast time interval, dividing the forecast period into fixed length according to the forecast time interval, and using the forecast period ending time as a forecast time point;
s2, calculating the track position of the target at each track forecast time point based on the SGP4/SDP4 track dynamics model, and simultaneously converting the target track position into an azimuth angle and a pitch angle relative to the station measuring equipment according to the station measuring equipment position information;
s3, sequentially finding out accurate entry and exit moments of all targets in a target forecasting time period by a binary search method from the first track forecasting time point according to target transit geometrical conditions until traversal processing of all track forecasting time points is completed;
and S4, generating a target transit time period according to the target entry and exit time, and storing all the calculated target transit time periods to form a target transit result.
Preferably, the geometric condition of the target crossing is that the geometric critical angle of the crossing region is greater than or equal to the minimum pitch angle, namely gamma is greater than or equal to gamma0(ii) a Where γ is the geometric critical angle of the transit zone, γ0Is the minimum pitch angle.
Preferably, said is a minimum pitch angle of 3 ° or 5 °.
Preferably, the number of iteration layers or the number of iteration layers of all target entry and exit accurate moments in the target forecasting time period are found in sequence by a binary search method and are flexibly set to be 10 or 14 according to the user transit forecasting precision requirement.
Preferably, the track forecast time interval is 30 seconds or 60 seconds.
The invention realizes the purpose through the following technical scheme: based on the SGP4/SDP4 orbit forecasting dynamics model, the situation of the target crossing is judged by combining the geometric intersection relation between the target position and the visual angle of the station-measuring equipment, the entry and exit time of the target is quickly found by using a binary search method, and finally all the crossing time periods of the target in a given time period are quickly found.
The invention has the beneficial effects that: the invention simplifies the geometric judgment condition of whether the target passes through the border, and is simple and practical; compared with the similar method, the method disclosed by the invention has the advantages that the execution efficiency is greatly improved, and the time jitter problem of the similar transit time calculation method is solved.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a flow chart comparing a general transit time calculation method with the method of the present invention;
FIG. 3 is a plan view of a perspective of a satellite transit detection device;
FIG. 4 is a table of results of satellite transit calculations;
FIG. 5 is a table comparing the time consumption of the method of the present invention with that of the conventional method;
FIG. 6 is a table of 24 hour transit time forecast results for FENGYUN 3B using the method of the present invention;
FIG. 7 shows the increasing trend of the pitch angle 30 seconds before and after the entry time;
FIG. 8 shows the decreasing trend of the pitch angle 30 seconds before and after the departure time;
fig. 9 is a second-level jitter of the entry and exit time in the conventional transit time period calculation method.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1, the method for rapidly calculating the transit time of the spatial target of the present invention includes:
s1, setting track forecast time interval, dividing the forecast period into fixed length according to the forecast time interval, and using the forecast period ending time as a forecast time point;
s2, calculating the track position of the target at each track forecast time point based on the SGP4/SDP4 track dynamics model, and simultaneously converting the target track position into an azimuth angle and a pitch angle relative to the station measuring equipment according to the station measuring equipment position information;
s3, sequentially finding out accurate entry and exit moments of all targets in a target forecasting time period by a binary search method from the first track forecasting time point according to target transit geometrical conditions until traversal processing of all track forecasting time points is completed;
and S4, generating a target transit time period according to the target entry and exit time, and storing all the calculated target transit time periods to form a target transit result.
Preferably, the geometric condition of the target crossing is that the geometric critical angle of the crossing area is greater than or equal to the minimum pitch angle of observation equipment of the observation station, namely gamma is greater than or equal to gamma0(ii) a Where γ is the geometric critical angle of the transit zone, γ0The minimum pitch angle of the observation equipment of the observation station is adopted.
Preferably, said is a minimum pitch angle of 3 ° or 5 °.
Preferably, the number of iteration layers or the number of iteration layers of all target entry and exit accurate moments in the target forecasting time period are found in sequence by a binary search method and are flexibly set to be 10 or 14 according to the user transit forecasting precision requirement.
Preferably, the track forecast time interval is 30 seconds or 60 seconds.
Fig. 2 shows a comparison of a general transit time calculation method with the method of the present invention. The invention determines whether the position of the target at a certain moment is in an infinite cone area formed by the detection range of the detection equipment or not through the pitch angle of the target relative to the station measurement equipment. Referring to FIG. 3, an infinite cone of view of the satellite navigation probe is shown, where the detection range is defined by the minimum elevation angle of the target relative to the probeThe target is considered to be in the visual range of the equipment, namely in the area of an infinite cone formed by the detection range of the detection equipment, namely the cone angle of a visual angle area is 180-2 gamma0Wherein γ is0Is the minimum pitch angle. The minimum pitch angle is usually set to be 3-5 degrees by a user according to the distribution condition of shelters such as mountains and the like around the observation station, so that the geometric judgment condition of entry and exit can be simplified to be that the geometric critical angle of a transit area is larger than or equal to the minimum pitch angle, namely gamma is larger than or equal to gamma under the condition that the equipment performance is not considered0Where γ is the pitch angle of the target relative to the survey station equipment, γ0The minimum pitch angle of the observation equipment of the observation station is adopted. The geometric judgment condition of whether the target passes is simplified, and the method is simple and practical.
As shown in fig. 6 and 7, according to the target motion law, since the target entry pitch angle changes in an increasing trend within 30 seconds before and after the target entry time, and the target exit pitch angle changes in a decreasing trend within 30 seconds before and after the target exit time, the accurate time of the target entry and exit is quickly found by the binary search method. As shown in fig. 2, the pitch angle of the target at the entry and exit time of a certain transit period is gradually changed, the entry pitch angle of the target gradually increases within 30 seconds before and after the entry time of the target, and the exit pitch of the target gradually decreases within 30 seconds before and after the exit time of the target.
And sequentially finding the accurate entry and exit moments of all targets in the target forecasting time period by a binary search method from the first track forecasting time point according to the target transit geometrical conditions until the traversal processing of all track forecasting time points is completed. The binary search method is also called a binary search, is a high-efficiency search method, fully utilizes the size order relation among elements to be searched, adopts a dividing and conquering strategy and quickly completes the task of searching the elements.
The number of iterations or number of iterations of the binary search method can be adjusted, with 10 layers being accurate to a hundredth of a second and 14 layers being accurate to a millisecond. The orbit prediction time interval can be adjusted to be 30 seconds or 60 seconds or other values.
Specifically, the method is verified by using the number of orbits of the FENGYUN 3B satellite 3/16/2020, and a specific embodiment thereof will be described. The geographical longitude of the station measurement equipment is 111 degrees, the geographical latitude is 31 degrees, the geographical altitude is 0 meter, and the minimum pitch angle threshold is 3 degrees. The starting time of the transit calculation forecast period is Beijing, 3, 20, 00, min and 00 seconds, the ending time of the transit calculation forecast period is Beijing, 3, 21, 00, min and 00 seconds, the track forecast time interval is 60 seconds, and the target track parameters are as follows:
1.37214U，10059A，20175，77850265，-.00000009，00000-0，18819-4，0，9998；
2.37214，99.0459，157.6114，0016065，248.7999，111.1459，14.15950714498578。
s1: dividing a given 24-hour forecast time period into a series of track forecast time points or track position calculation points at 60-second intervals;
s2: calculating the orbit position of each orbit forecasting time point of the satellite based on an SGP4/SDP4 orbit dynamics model, and simultaneously converting the orbit position of the satellite into azimuth angle and pitch angle position information of a target relative to the station measuring equipment according to longitude and latitude and height information of the equipment;
s3: and sequentially judging whether the satellite is in the observation range at the orbit forecasting time point or not from the first orbit forecasting time point according to the minimum pitch angle, and quickly finding the accurate time of the target entering and exiting through a binary search method until all the orbit forecasting time points are traversed and processed.
The detailed process is as follows:
1. searching satellite entry time: and sequentially traversing all track forecast time points until finding out the first track forecast time point meeting the condition that the pitch angle of the station measuring equipment is more than or equal to the minimum pitch angle of 3 degrees. If the traversal is completed, the forecasting time point which meets the condition is still not found, and the satellite does not cross the situation in the forecasting time period; if the first orbit forecast time point meets the pitch angle critical condition, taking the first forecast time point as the satellite entry starting time; if the first time point meeting the condition is an orbit prediction time point in the middle of the prediction period, the satellite is in the field of view of the equipment at the current orbit prediction time point, and the satellite does not move into the field of view of the equipment at the previous orbit prediction time point, the entry time of the satellite is in the middle of the two previous and next prediction time points, a binary search method is adopted to accurately determine the entry time of the satellite, and the accurate entry time of the satellite is found out in a time area formed by the two previous and next time points on the premise of limiting the iteration times or the number of layers of the binary search method to be 14. Setting the iteration times or the layer number of a binary search method as 14, on one hand, under the condition that the iteration time or the layer number is not strictly equal to the minimum pitch angle, the calculation is prevented from being carried out infinitely; on the other hand, the transit time period is often only accurate to the second, and the accuracy calculated by the binary search method is 60/2^14 seconds, which is about 3.7 milliseconds, so that the second-level fluctuation problem commonly existing in the conventional method is avoided under the condition of keeping high accuracy;
2. searching the satellite exit time: and after the entry moment is found, continuously traversing the residual track forecast time points backwards until the first time point meeting the condition that the pitch angle of the observation station equipment is less than the minimum pitch angle by 3 degrees is found. If the traversal is finished, the orbit prediction time point meeting the condition is not found yet, which indicates that the satellite is always in the field of view of the observation station equipment, and the prediction period end time is taken as the satellite transit end time; if the satellite is found, the satellite moves out of the field of view of the observation station equipment at the current orbit forecasting time point, but the satellite does not move into the field of view of the equipment at the previous orbit forecasting time point, the departure time of the satellite is in the middle time of the two orbit forecasting time points, in order to accurately determine the departure time of the satellite, a binary search method is adopted, and the accurate departure time of the satellite is found in a time area formed by the two orbit forecasting time points from front to back under the premise of limiting the iteration times or the number of layers of the binary search method to be 14.
3. And (3) according to the steps 1 and 2, circularly finding all the satellite entry moments and the satellite exit moments in sequence until all the orbit forecasting time points are traversed and processed.
And S4, generating a target transit time period according to the satellite entry and exit time, storing all the calculated target transit time periods (the target may transit for multiple times in the forecast time period), and finally forming a target transit result. The results of the satellite transit calculations are shown in FIG. 4:
aiming at the same satellite target FENGYUN 3B, the conventional transit time interval method and the method of the invention which are also based on the SGP4\ SDP4 orbit prediction dynamic model are adopted to carry out multiple transit time interval calculation comparison, and the time consumption comparison result of the method is shown in the attached figure 5. Compared with analysis, the method has higher execution efficiency and consumes less time.
Under the condition that the calculation starting time is different, the result of forecasting the transit time of 24 hours on the FENGYUN 3B by using the method of the invention is shown in figure 8, and the second-level jitter of the entry-exit time of the conventional transit time calculation method is shown in figure 9. Through analysis, when the initial time of the transit time period calculation is different, the precision errors of the inbound time and the outbound time of the same transit time period are always kept at the millisecond level, so that the method can avoid the second level fluctuation or inconsistency commonly existing in the conventional transit time period calculation method.
The invention simplifies the geometric judgment condition of whether the target passes through the border, and is simple and practical; compared with the similar method, the method disclosed by the invention has the advantages that the execution efficiency is greatly improved, and the time jitter problem of the similar transit time calculation method is solved.
The technical solution of the present invention is not limited to the limitations of the above specific embodiments, and all technical modifications made according to the technical solution of the present invention fall within the protection scope of the present invention.
Claims (5)
1. A method for quickly calculating a spatial target transit time period is characterized by comprising the following steps:
s1, setting track forecast time interval, dividing the forecast period into fixed length according to the forecast time interval, and using the forecast period ending time as a forecast time point;
s2, calculating the track position of the target at each track forecast time point based on the SGP4/SDP4 track dynamics model, and simultaneously converting the target track position into an azimuth angle and a pitch angle relative to the station measuring equipment according to the station measuring equipment position information;
s3, sequentially finding out accurate entry and exit moments of all targets in a target forecasting time period by a binary search method from the first track forecasting time point according to target transit geometrical conditions until traversal processing of all track forecasting time points is completed;
and S4, generating a target transit time period according to the target entry and exit time, and storing all the calculated target transit time periods to form a target transit result.
2. The method as claimed in claim 1, wherein the target transit geometry is that the geometric critical angle of the transit area is greater than or equal to the minimum pitch angle of observation equipment of the observation station, that is, γ is greater than or equal to γ0(ii) a Where γ is the geometric critical angle of the transit zone, γ0The minimum pitch angle of the observation equipment of the observation station is adopted.
3. The method as claimed in claim 2, wherein the minimum pitch angle is 3 ° -5 °.
4. The method for rapidly calculating the spatial target transit time interval according to claim 1, wherein the number of iteration layers or the number of iteration layers sequentially finding the accurate entry and exit moments of all targets in the target forecast time interval by a binary search method is flexibly set to 10 or 14 according to the precision requirement of user transit forecast.
5. The method as claimed in claim 1, wherein the orbit prediction time interval is 30 seconds or 60 seconds.
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Cited By (5)
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| CN114476131A (en) * | 2021-11-09 | 2022-05-13 | 浙江时空道宇科技有限公司 | Satellite measurement and control scheduling method and device and storage medium |
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