CN113406678B

CN113406678B - Filtering method, device, equipment and storage medium

Info

Publication number: CN113406678B
Application number: CN202110518951.8A
Authority: CN
Inventors: 闵阳; 曹成度; 滕焕乐; 冯光东; 舒颖; 郑跃; 马龙; 陶灿
Original assignee: China Railway Siyuan Survey and Design Group Co Ltd
Current assignee: China Railway Siyuan Survey and Design Group Co Ltd
Priority date: 2021-05-12
Filing date: 2021-05-12
Publication date: 2022-06-10
Anticipated expiration: 2041-05-12
Also published as: CN113406678A

Abstract

The embodiment of the invention discloses a robust adaptive filtering method, a robust adaptive filtering device, robust adaptive filtering equipment and a robust adaptive filtering storage medium based on satellite autonomous orbit determination, wherein the robust adaptive filtering method comprises the following steps: acquiring the predicted state information of the satellite and observation information determined by the autonomous orbit of the satellite; determining filtering information corresponding to the observation information according to the prediction state information and the observation information; the filtering information represents the difference between the prediction state information and the observation information; obtaining a first mark corresponding to observation information and a second mark corresponding to the satellite based on the filtering innovation; under the condition that the first mark and the second mark meet a first preset condition, determining equivalent observation information corresponding to the observation information according to the predicted state information and the observation information, and performing filtering updating based on the equivalent observation information; and under the condition that the first mark and the second mark meet a second preset condition, determining equivalent state information of the satellite according to the predicted state information, the observation information and the filtering information, and performing filtering updating based on the equivalent state information.

Description

Filtering method, device, equipment and storage medium

Technical Field

The invention relates to the technical field of satellite adaptive filtering, in particular to a robust adaptive filtering method, a robust adaptive filtering device, robust adaptive filtering equipment and a storage medium based on satellite autonomous orbit determination.

Background

The Beidou system is a global satellite navigation system independently researched and developed in China. According to the development strategy of 'three-step walking', the Beidou No. three global satellite navigation system announces to be formally built in 7 and 31 months in 2020. Compared with a Beidou satellite II, the Beidou satellite III carries the inter-satellite link load. Through ranging, communication and data exchange among satellites, the Beidou third system can realize autonomous orbit determination without the support of a ground monitoring station. The autonomous orbit determination can effectively reduce the dependence of a navigation satellite system on a ground control system, reduce the system construction cost, shorten the ephemeris update period and improve the system service performance. Under the condition of losing connection with the ground control system, the Beidou No. three system can maintain the normal service performance for at least 180 days through the autonomous orbit. Therefore, the autonomous orbit determination can not only improve the system performance, but also effectively guarantee the wartime vitality of the system, and is very important for the stable operation of the Beidou No. three system and the realization of the globalization service.

At present, the autonomous orbit determination of the Beidou third system is realized by adopting a Kalman filtering algorithm. The process is as follows: under the condition of a known orbit initial value, performing one-step satellite state prediction by using orbit integration; forming an orbit determination observation equation by using the epoch inter-satellite bidirectional observation value, and observing and updating the satellite prediction state; under the condition of the known initial value of the satellite clock error, the clock error prediction model is utilized to predict the satellite clock error in one step; and forming a time synchronization observation equation by using the epoch inter-satellite bidirectional observation value, and observing and updating the satellite prediction clock error. The autonomous orbit determination filtering algorithm related to the Beidou No. three system is only suitable for the conventional situation.

However, due to inter-satellite link equipment failure and the requirement for high orbit (GEO and IGSO) satellites of the beidou No. three system, observation anomalies (caused by anomalies in satellite ranging equipment) and state anomalies (caused by periodic orbit precession of GEO satellites and IGSO satellites) inevitably occur in the autonomous orbit determination process. If the autonomous orbit determination accuracy is not considered, the autonomous orbit determination accuracy is seriously reduced, and the global navigation positioning service performance of the Beidou third satellite navigation system is further influenced. No effective solution to this problem is currently available.

Disclosure of Invention

In view of the above, embodiments of the present invention are intended to provide a robust adaptive filtering method, apparatus, device and storage medium based on satellite autonomous orbit determination.

The technical embodiment of the invention is realized as follows:

the embodiment of the invention provides a robust adaptive filtering method based on satellite autonomous orbit determination, which comprises the following steps:

obtaining the predicted state information of the satellite and observation information determined by the autonomous orbit of the satellite;

determining filtering information corresponding to the observation information according to the prediction state information and the observation information; the filtering information represents a difference between the prediction state information and the observation information;

obtaining a first mark corresponding to the observation information and a second mark corresponding to the satellite based on the filtering innovation; the first mark represents whether the observation information has gross errors or whether the satellite corresponding to the observation information has orbital maneuver as a transmitting signal satellite or a receiving signal satellite; the second mark represents whether the satellite corresponding to the observation information is used as a transmitting signal satellite or a receiving signal satellite and has orbital maneuver or not;

under the condition that the first mark and the second mark meet a first preset condition, determining equivalent observation information corresponding to the observation information according to the prediction state information and the observation information, and performing filtering updating based on the equivalent observation information; the first preset condition represents that observation abnormity exists in the observation information;

under the condition that the first mark and the second mark meet a second preset condition, determining equivalent state information of the satellite according to the predicted state information and the observation information, and performing filtering updating based on the equivalent state information; and the second preset condition represents that the observation information has abnormal state.

In the above solution, the obtaining the predicted state information of the satellite and the observation information determined by the autonomous orbit of the satellite includes:

obtaining initial state information of the satellite at a first time; the initial state information includes at least: initial state parameters, initial state variance parameters and noise parameters;

determining predicted state information of the satellite at a second time according to the initial state information; the prediction state information includes at least: a predicted state parameter, a predicted state variance parameter;

obtaining observation information determined by the satellite for the autonomous orbit at a second time; the observation information at least includes: observation parameters and design parameters.

In the foregoing solution, the obtaining a first flag corresponding to the observation information and a second flag corresponding to the satellite based on the filtering update information includes:

obtaining an initial value of the second flag; the initial mark represents that the satellite corresponding to the observation information has orbital maneuver as a signal transmitting satellite or a signal receiving satellite;

judging whether the filtering innovation is larger than a first preset threshold value or not;

under the condition that the filtering information is less than or equal to the first preset threshold value, determining the first mark as a first threshold value, and re-determining the value of the second mark according to the initial value; the first threshold value represents that the observation information has no gross error and the satellite corresponding to the observation information is used as a transmitting signal satellite or a receiving signal satellite and has no orbital maneuver;

determining the first mark as a second threshold value under the condition that the filtering innovation is larger than the first preset threshold value; the second threshold value represents that the observation information is gross error or the satellite corresponding to the observation information has orbital maneuver as a transmitting signal satellite or a receiving signal satellite.

In the foregoing solution, the re-determining the value of the second flag according to the initial value includes:

re-determining the value of the second mark according to the initial value and a second preset threshold value; the second preset threshold is a number greater than zero.

In the above solution, the method further comprises:

judging whether the value of the second mark is larger than the initial value;

determining that the first flag is a third threshold value when the value of the second flag is less than or equal to the initial value; and the third threshold value represents that the satellite corresponding to the observation information has orbital maneuver as a transmitting signal satellite or a receiving signal satellite.

In the foregoing solution, the determining, according to the predicted state information and the observation information, equivalent observation information corresponding to the observation information when the first flag and the second flag satisfy a first preset condition includes:

and under the condition that the first mark and the second mark meet the condition that the first mark is the second threshold value and the value of the second mark is larger than the initial value, determining equivalent observation information corresponding to the observation information according to the predicted state information and the observation information.

In the foregoing solution, the determining, according to the predicted state information and the observation information, equivalent observation information corresponding to the observation information includes:

determining an observation variance expansion factor corresponding to the observation information according to the prediction state information and the observation information;

determining the equivalent observation information based on the observation variance inflation factor and the observation information.

In the foregoing solution, the determining an observation variance inflation factor corresponding to the observation information according to the predicted state information and the observation information includes:

determining a filter gain parameter corresponding to the observation information according to the prediction state information and the observation information;

determining correction information corresponding to the observation information based on the filter gain parameter, the prediction state information and the observation information;

obtaining a standard residual error corresponding to the observation information according to the correction information;

and determining an observation variance expansion factor corresponding to the observation information based on the standard residual error.

In the foregoing solution, the performing filtering update based on the equivalent observation information includes:

obtaining a first state parameter and a first state variance of the satellite; the first state variance is determined by the first state parameter;

updating the first state parameter based on the equivalent observation information;

and updating the first state variance of the satellite according to the updated first state parameter.

In the foregoing solution, the determining equivalent state information of the satellite according to the predicted state information and the observation information when the first flag and the second flag satisfy a second preset condition includes:

and determining equivalent state information of the satellite according to the predicted state information and the observation information under the condition that the first flag and the second flag meet the condition that the first flag is the third threshold value and the second flag is equal to the initial value.

In the foregoing solution, the determining equivalent state information of the satellite according to the predicted state information and the observation information includes:

determining an adaptive factor corresponding to the predicted state information according to the predicted state information and the observation information;

determining equivalent state information for the satellite based on the predicted state information and the adaptive factor.

In the foregoing solution, the determining an adaptive factor corresponding to the predicted state information according to the predicted state information and the observation information includes:

determining a standardized deviation corresponding to the prediction state information according to the prediction state information and the observation information;

and determining an adaptive factor corresponding to the prediction state information based on the normalized deviation.

obtaining a second state parameter and a second state variance of the satellite; the second state parameter is determined from the observation information; the second state variance is determined by the second state parameter;

updating the two-state parameters based on the equivalent observation information;

and updating the second state variance according to the updated second state parameter.

The embodiment of the invention provides an anti-difference self-adaptive filtering device based on satellite autonomous orbit determination, which comprises: the device comprises an obtaining unit, a determining unit, a first updating unit and a second updating unit, wherein:

the obtaining unit is used for obtaining the predicted state information of the satellite and the observation information determined by the autonomous orbit of the satellite;

the determining unit is configured to determine filtering information corresponding to the observation information based on the prediction state information and the observation information obtained by the obtaining unit; the filtering information represents a difference between the prediction state information and the observation information;

the obtaining unit is further configured to obtain a first flag corresponding to the observation information and a second flag corresponding to the satellite based on the filtering information determined by the determining unit; the first mark represents whether the observation information has gross errors or whether the satellite corresponding to the observation information has orbital maneuver as a transmitting signal satellite or a receiving signal satellite; the second mark represents whether the satellite corresponding to the observation information is used as a transmitting signal satellite or a receiving signal satellite and has orbital maneuver or not;

the first updating unit is configured to determine equivalent observation information corresponding to the observation information according to the predicted state information and the observation information when the first flag and the second flag obtained by the obtaining unit satisfy a first preset condition, and perform filtering updating based on the equivalent observation information; the first preset condition represents that observation abnormity exists in the observation information;

the second updating unit is configured to determine equivalent state information of the satellite according to the predicted state information and the observation information when the first flag and the second flag obtained by the obtaining unit satisfy a second preset condition, and perform filtering update based on the equivalent state information; and the second preset condition represents that the observation information has abnormal state.

In the above scheme, the obtaining unit is further configured to obtain initial state information of the satellite at a first time; the initial state information includes at least: initial state parameters, initial state variance parameters and noise parameters; determining predicted state information of the satellite at a second time according to the initial state information; the prediction state information includes at least: a predicted state parameter, a predicted state variance parameter; obtaining observation information determined by the satellite for the autonomous orbit at a second time; the observation information at least includes: observation parameters and design parameters.

In the foregoing solution, the obtaining unit is further configured to obtain an initial value of the second flag; the initial mark represents that the satellite corresponding to the observation information has orbital maneuver as a signal transmitting satellite or a signal receiving satellite; judging whether the filtering innovation is larger than a first preset threshold value or not; under the condition that the filtering information is less than or equal to the first preset threshold value, determining the first mark as a first threshold value, and re-determining the value of the second mark according to the initial value; the first threshold value represents that the observation information has no gross error and the satellite corresponding to the observation information is used as a transmitting signal satellite or a receiving signal satellite and has no orbital maneuver; determining the first mark as a second threshold value under the condition that the filtering innovation is larger than the first preset threshold value; the second threshold value represents that the observation information is gross error or the satellite corresponding to the observation information has orbital maneuver as a transmitting signal satellite or a receiving signal satellite.

In the foregoing solution, the obtaining unit is further configured to re-determine the value of the second flag according to the initial value and a second preset threshold; the second preset threshold is a number greater than zero.

In the above solution, the apparatus further comprises a judging unit,

the judging unit is used for judging whether the value of the second mark is larger than the initial value;

the determining unit is further configured to determine that the first flag is a third threshold value when the value of the second flag is less than or equal to the initial value; and the third threshold value represents that the satellite corresponding to the observation information has orbital maneuver as a transmitting signal satellite or a receiving signal satellite.

In the foregoing solution, the determining unit is further configured to determine, according to the predicted state information and the observation information, equivalent observation information corresponding to the observation information, when the first flag and the second flag satisfy that the first flag is the second threshold and a value of the second flag is greater than the initial value.

In the foregoing solution, the first updating unit is further configured to determine, according to the predicted state information and the observation information, an observation variance expansion factor corresponding to the observation information; determining the equivalent observation information based on the observation variance inflation factor and the observation information.

In the foregoing solution, the first updating unit is further configured to determine, according to the prediction state information and the observation information, a filter gain parameter corresponding to the observation information; determining correction information corresponding to the observation information based on the filter gain parameter, the prediction state information and the observation information; obtaining a standard residual error corresponding to the observation information according to the correction information; and determining an observation variance expansion factor corresponding to the observation information based on the standard residual error.

In the above solution, the first updating unit is further configured to obtain a first state parameter and a first state variance of the satellite; the first state variance is determined by the first state parameter; updating the first state parameter based on the equivalent observation information; and updating the first state variance of the satellite according to the updated first state parameter.

In the foregoing solution, the second updating unit is further configured to determine equivalent state information of the satellite according to the predicted state information and the observation information when the first flag and the second flag satisfy that the first flag is the third threshold and the second flag is equal to the initial value.

In the foregoing solution, the second updating unit is further configured to determine, according to the predicted state information and the observation information, an adaptive factor corresponding to the predicted state information; determining equivalent state information for the satellite based on the predicted state information and the adaptive factor.

In the foregoing solution, the second updating unit is further configured to determine a normalized deviation corresponding to the predicted state information according to the predicted state information and the observation information; and determining an adaptive factor corresponding to the prediction state information based on the normalized deviation.

In the foregoing solution, the second updating unit is further configured to obtain a second state parameter and a second state variance of the satellite; the second state parameter is determined from the observation information; the second state variance is determined by the second state parameter; updating the two-state parameters based on the equivalent observation information; and updating the second state variance according to the updated second state parameter.

The embodiment of the invention provides an adaptive filter device for robust estimation based on satellite autonomous orbit determination, which comprises a memory and a processor, wherein the memory stores a computer program capable of running on the processor, and the processor realizes any step of the method when executing the program.

Embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements any of the steps of the above-mentioned method.

The embodiment of the invention provides a robust adaptive filtering method, a robust adaptive filtering device, robust adaptive filtering equipment and a robust adaptive filtering storage medium based on satellite autonomous orbit determination, wherein the robust adaptive filtering method comprises the following steps: obtaining the predicted state information of the satellite and observation information determined by the autonomous orbit of the satellite; determining filtering information corresponding to the observation information according to the prediction state information and the observation information; the filtering information represents a difference between the prediction state information and the observation information; obtaining a first mark corresponding to the observation information and a second mark corresponding to the satellite based on the filtering innovation; the first mark represents whether the observation information has gross errors or whether the satellite corresponding to the observation information has orbital maneuver as a transmitting signal satellite or a receiving signal satellite; the second mark represents whether the satellite corresponding to the observation information is used as a transmitting signal satellite or a receiving signal satellite and has orbital maneuver or not; under the condition that the first mark and the second mark meet a first preset condition, determining equivalent observation information corresponding to the observation information according to the prediction state information and the observation information, and performing filtering updating based on the equivalent observation information; the first preset condition represents that observation abnormity exists in the observation information; under the condition that the first mark and the second mark meet a second preset condition, determining equivalent state information of the satellite according to the predicted state information and the observation information, and performing filtering updating based on the equivalent state information; and the second preset condition represents that the observation information has abnormal state. By adopting the technical scheme of the embodiment of the invention, the problem that observation abnormity and state abnormity cannot be processed in the satellite autonomous orbit determination algorithm is solved, the accuracy of autonomous orbit determination under the condition of observation abnormity or state abnormity can be effectively improved, and the reliability of global service capability of the satellite can be greatly improved.

Drawings

FIG. 1 is a schematic diagram of a flow chart of an implementation of an adaptive filtering method based on autonomous orbit determination of a satellite according to an embodiment of the present invention;

fig. 2 is a schematic view of an application scenario of a robust adaptive filtering method based on satellite autonomous orbit determination according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a configuration of an adaptive filter apparatus for robust estimation based on autonomous orbit determination of a satellite according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a hardware entity structure of an adaptive filter apparatus for robust estimation based on satellite autonomous orbit determination according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following describes specific technical solutions of the present invention in further detail with reference to the accompanying drawings in the embodiments of the present invention. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

The embodiment proposes a robust adaptive filtering method based on satellite autonomous orbit determination, which is applied to a robust adaptive filtering device based on satellite autonomous orbit determination, and the functions implemented by the method can be implemented by calling a program code by a processor in the robust adaptive filtering device based on satellite autonomous orbit determination, although the program code can be stored in a computer storage medium, which includes at least a processor and a storage medium.

Fig. 1 is a schematic flow chart of an implementation of an adaptive robust filtering method based on satellite autonomous orbit determination according to an embodiment of the present invention, as shown in fig. 1, the method includes:

step S101: and obtaining the predicted state information of the satellite and the observation information determined by the autonomous orbit of the satellite.

The robust adaptive filtering algorithm method based on satellite autonomous orbit determination in the embodiment of the invention can be a robust adaptive filtering algorithm determined by satellite autonomous orbit considering state abnormality and observation abnormality, the number and the type of the satellites can be determined according to actual conditions, and the method is not limited herein. As an example, the robust adaptive filtering algorithm method based on satellite autonomous orbit determination may specifically be a robust adaptive filtering algorithm determined by the Beidou autonomous orbit, which takes into account observation anomalies and state anomalies. The Beidou satellite can be a Beidou No. three system high orbit satellite and consists of three orbit satellites of a geostationary orbit (GEO), an inclined geosynchronous orbit (IGSO) and a medium orbit (MEO).

The obtaining of the predicted state information of the satellite and the observation information determined by the autonomous orbit of the satellite may be obtaining of initial state information of the satellite, determining of the predicted state information of the satellite according to the initial state information, and obtaining of the observation information determined by the satellite for the autonomous orbit; wherein the initial state information at least includes: initial state parameters, initial state variance parameters, noise parameters and initial observation parameters; the prediction state information at least includes: a predicted state parameter, a predicted state variance parameter; the observation information at least includes: observation parameters and design parameters.

For ease of understanding, the initial state information obtained for the satellite may be given satellite initial state information as exemplified herein: the initial state parameter may be an initial epoch t₀Satellite state parameter values at time of day

The

The satellite three-dimensional position, the three-dimensional speed, the transmitting and receiving hardware delay and the sunlight pressure can be obtained by using precise ephemeris fitting; the initial state variance parameter may be an initial state variance value, and may be based on

Calculating the variance yields an initial state variance value, which can be recorded as

The noise parameter may be a noise value, may be a fixed value, i.e. the fixed value is kept constant throughout the calculation,also known as process noise, the noise value may be denoted as sigma_W(ii) a The initial observation parameter may be an initial epoch t₀A satellite observation of time, which may be denoted as Σ₀。

Determining the predicted state information of the satellite according to the initial state information may be determining the predicted state parameter according to the initial state parameter, and determining the predicted state variance parameter according to the initial state variance parameter and the noise parameter. For convenience of understanding, the perturbation motion equations of the Beidou No. three system GEO, IGSO and MEO satellites can be established by using an accurate perturbation motion model according to the on-orbit stress condition of the satellites. At known satellite initial state values

On the premise of obtaining the epoch t by integrating perturbation motion equations of the three types of satellites by using a numerical integration method₁To epoch t₀State transition matrix phi of_1,0All right (1)By usingState transition matrix phi_1,0 Calculating epocht₁Satellite predicted state value of time

And satellite prediction state variance values

The observation information determined by the satellites for the autonomous orbit can be obtained by forming an inter-satellite bidirectional observation value according to any two satellites in the satellites to form orbit determination observation information; the observation information includes a plurality of observations. For ease of understanding, this is exemplified here. Two satellites are arbitrarily selected from the satellites and are respectively marked as SV_AAnd SV_BIf SV_ATransmitting a ranging signal SV_BThe observation value formed by the received signals is a forward observation value D_AB(ii) a Let SV_BTransmitting a ranging signal SV_AThe observed value formed by the received signals is a reverse observed value D_BAThen the satellite pair (SV)_AAnd SV_B) In betweenOrbit determination of observed value D_AB+D_BA. And adding all bidirectional observation values in the epoch according to the mode to obtain orbit determination observation information of all satellite pairs. As an example, the observation information may be denoted as L₁It can be understood as the epoch t₁And forming a track determination observation value by the inter-satellite bidirectional observation values in the moment.

In practical application, the state parameters of the satellite can be determined according to observation information by establishing an observation equation, and the state variance of the satellite is determined according to the state parameters; as an example, the state parameter may be a value of a state parameter, and the state variance may be a value of a state variance; determining a state parameter value of the satellite according to a functional relation between an observed value in the observation information and a state parameter of the satellite, wherein the state parameter value can be recorded as

Represents an epoch t₁A satellite state parameter value at a time; calculating a state variance value of the satellite according to the state parameter value; the state variance value can be recorded as

Step S102: determining filtering information corresponding to the observation information according to the prediction state information and the observation information; the filtering information characterizes a difference between the prediction state information and the observation information.

In this embodiment, the determining, according to the predicted state information and the observation information, the filtering information corresponding to the observation information may be calculating epoch t according to the predicted state information and the observation information₁And filtering information corresponding to all the observed values at the moment. In practical applications, the filtering innovation may be denoted as l.

For convenience of understanding, the prediction state information may be illustrated here asEpocht₁A satellite predicted state value at a time; the observation information may be an epoch t₁Determining observation values of all tracks; the filtering innovation may be an epoch t₁And filtering innovation values of all observed values at the moment. Determining the filtering information corresponding to the observation information according to the predicted state information and the observation information may be based onEpocht₁Satellite predicted state value and epoch t at time₁Calculating epoch of all track determination observation values₁The filtered innovation of all observations at the time. At this time, epoch t₁The filtering innovation value of all observed values at the moment can also be recorded as l₁。

Step S103: obtaining a first mark corresponding to the observation information and a second mark corresponding to the satellite based on the filtering innovation; the first mark represents whether the observation information has gross errors or whether the satellite corresponding to the observation information has orbital maneuver as a transmitting signal satellite or a receiving signal satellite; and the second mark represents whether the satellite corresponding to the observation information is used as a transmitting signal satellite or a receiving signal satellite to have orbital maneuver.

In this embodiment, observation anomalies (caused by anomalies in the satellite ranging equipment) and state anomalies (caused by periodic orbit precession of the satellite) are inevitably generated in the satellite autonomous orbit determination process. The observation abnormity is mainly reflected in gross error and occurs in an observation value domain; the state abnormity is mainly embodied in the satellite maneuver and occurs in a satellite state value range;

the first mark represents whether the observation information has gross errors or whether the satellite corresponding to the observation information has orbital maneuver as a transmitting signal satellite or a receiving signal satellite; the second mark represents whether the satellite corresponding to the observation information has orbital maneuver as a transmitting signal satellite or a receiving signal satellite

The obtaining of the first flag corresponding to the observation information and the second flag corresponding to the satellite based on the filtering innovation may be obtaining the second flag corresponding to the satellite and obtaining the first flag corresponding to the observation information based on the filtering innovation and a preset threshold. Obtaining a second flag corresponding to the satellite may set a second flag for each satellite; the second flag may be referred to as a satellite Quality flag and is denoted as SV _ Quality, and in practical application, the second flag may be assigned with an initial value, and the initial value may be determined according to an actual situation, which is not limited herein. As an example, the initial value may be zero.

The obtaining of the first flag corresponding to the observation information based on the filtering innovation and the preset threshold may be determining the size of the filtering innovation and the preset threshold to obtain a determination result, and determining the first flag corresponding to the observation information based on the determination result. Wherein, the filtering innovation may be a filtering innovation value, which may be understood as an epoch t₁Filtering innovation values of all the observation values at the moment; the judgment result can be the condition that the filtering innovation is less than or equal to the preset threshold value and the condition that the filtering innovation is greater than the preset threshold value; the determination of the first flag corresponding to the observation information based on the determination result may be a value of the first flag corresponding to the observation information based on the determination result. The value of the first flag may be determined according to an actual situation, which is not limited herein, and as an example, in a case that the filtering information is less than or equal to the preset threshold, the value of the first flag corresponding to the observation information is determined to be 0; and determining that the value of the first mark corresponding to the observation information is 1 under the condition that the filtering information is larger than the preset threshold value.

In this embodiment, observation anomalies (caused by anomalies in the satellite ranging equipment) and state anomalies (caused by periodic orbit precession of the satellite) are inevitably generated in the satellite autonomous orbit determination process. And taking the filtering innovation corresponding to the observation value as a parameter for representing the difference between the state information and the observation information, and if the filtering innovation corresponding to the observation value is overlarge (exceeds a preset threshold value), considering that gross errors exist in the observation value or orbital maneuver exists in the observation value corresponding to the transmitting signal satellite/the receiving signal satellite. Therefore, whether the observation information has gross errors or whether the satellite corresponding to the observation information has orbital maneuver as a transmitting signal satellite or a receiving signal satellite can be characterized through the first mark; considering that the observation abnormity is mainly reflected in gross error and occurs in an observation value domain; the state abnormity is mainly embodied in the satellite maneuver and occurs in a satellite state value range; in order to further distinguish the reason of the generation of filtering information overrun, whether the satellite corresponding to the observation information has orbital maneuver as a transmitting signal satellite or a receiving signal satellite can be represented by a second mark.

Step S104: under the condition that the first mark and the second mark meet a first preset condition, determining equivalent observation information corresponding to the observation information according to the predicted state information and the observation information, and performing filtering updating based on the equivalent observation information; the first preset condition represents that observation abnormity exists in the observation information.

In this embodiment, the gross error occurs in the observation range, while the maneuver occurs in the satellite state range. If the epoch is not mobile with respect to the satellite, the filtering innovation overrun will be caused only by the observation gross error. Therefore, it is possible to determine that an observation abnormality exists in the observation information by a case where the first flag and the second flag satisfy a first preset condition.

When the first flag and the second flag satisfy a first preset condition, the first flag may satisfy a corresponding condition and the second flag may satisfy a corresponding condition. The condition that the first flag satisfies the corresponding condition may be that a value of the first flag satisfies a corresponding preset threshold; the condition that the second flag satisfies the corresponding condition may be that a value of the second flag satisfies a corresponding preset threshold; for convenience of understanding, the first flag may be an observation Quality tag or an observation Quality flag, denoted as Obs _ Quality; the second mark can be a satellite Quality label or a satellite Quality mark and is marked as SV _ Quality; for example, the first flag satisfying the corresponding condition and the second flag satisfying the corresponding condition may be that the first flag satisfies the Obs _ Quality _i1, and the second flag satisfies SV _ Quality_j>0。

And determining equivalent observation information corresponding to the observation information according to the predicted state information and the observation information, wherein the filtering updating based on the equivalent observation information can be understood as that when observation abnormity exists, a standardized observation residual is determined according to the predicted state information and the observation information, then the standardized observation residual is used as a control quantity to calculate an expansion factor, and further, an equivalent observation variance is calculated to perform filtering updating.

Step S105: under the condition that the first mark and the second mark meet a second preset condition, determining equivalent state information of the satellite according to the predicted state information and the observation information, and performing filtering updating based on the equivalent state information; and the second preset condition represents that the observation information has abnormal state.

In this embodiment, the gross error occurs in the observation range, while the maneuver occurs in the satellite state range. If there is no gross error in an observed value corresponding to the epoch, the filtering innovation overrun is only caused by the existence of the maneuver of the transmitting satellite or the receiving satellite of the observed value. Therefore, when the first flag and the second flag satisfy a second preset condition, a state abnormality may exist in the observation information.

When the first flag and the second flag satisfy a second preset condition, the first flag may satisfy a corresponding condition and the second flag may satisfy a corresponding condition. The condition that the first flag satisfies the corresponding condition may be that a value of the first flag satisfies a corresponding preset threshold; the condition that the second flag satisfies the corresponding condition may be that a value of the second flag satisfies a corresponding preset threshold; for convenience of understanding, the first flag may be an observation Quality tag or an observation Quality flag, denoted as Obs _ Quality; the second mark can be a satellite Quality label or a satellite Quality mark and is marked as SV _ Quality; for example, the first flag satisfying the corresponding condition and the second flag satisfying the corresponding condition may be that the first flag satisfies Obs _ Quality _i1, and the second flag satisfies SV _ Quality_j＝0。

And determining equivalent state information of the satellite according to the predicted state information and the observation information, wherein the filtering updating based on the equivalent state information can be performed by performing normal filtering observation updating on the satellite without the abnormal state when the abnormal state exists, determining a standardized state residual error according to the predicted state information and the observation information after the normal observation updating is performed on the satellite with the abnormal state, calculating an adaptive factor by using the standardized state residual error as a control quantity, and further calculating an equivalent predicted state variance to perform filtering updating.

In practical application, the embodiment of the invention can effectively distinguish observation abnormity from state abnormity, and can greatly improve the autonomous orbit determination precision of the Beidou No. three system under the abnormal condition on the premise of not interrupting the real-time resolving process of determining the autonomous orbit, thereby ensuring the reliability of the global service performance.

According to the robust adaptive filtering method based on satellite autonomous orbit determination, the predicted state information of a satellite and the observation information determined by the satellite autonomous orbit are obtained; determining filtering information corresponding to the observation information according to the prediction state information and the observation information; the filtering information represents a difference between the prediction state information and the observation information; obtaining a first mark corresponding to the observation information and a second mark corresponding to the satellite based on the filtering innovation; the first mark represents whether the observation information has gross errors or whether the satellite corresponding to the observation information has orbital maneuver as a transmitting signal satellite or a receiving signal satellite; the second mark represents whether the satellite corresponding to the observation information is used as a transmitting signal satellite or a receiving signal satellite and has orbital maneuver or not; under the condition that the first mark and the second mark meet a first preset condition, determining equivalent observation information corresponding to the observation information according to the prediction state information and the observation information, and performing filtering updating based on the equivalent observation information; the first preset condition represents that observation abnormity exists in the observation information; under the condition that the first mark and the second mark meet a second preset condition, determining equivalent state information of the satellite according to the predicted state information and the observation information, and performing filtering updating based on the equivalent state information; and the second preset condition represents that the observation information has abnormal state. The method solves the problem that observation abnormity and state abnormity cannot be processed in the satellite autonomous orbit determination algorithm, can effectively improve the accuracy of autonomous orbit determination under the condition of observation abnormity or state abnormity, and can also greatly improve the reliability of global service capability of the satellite.

In an optional embodiment of the present invention, the obtaining the predicted state information of the satellite and the observation information determined by the autonomous orbit of the satellite includes: obtaining initial state information of the satellite at a first time; the initial state information includes at least: initial state parameters, initial state variance parameters and noise parameters; determining predicted state information of the satellite at a second time according to the initial state information; the prediction state information includes at least: a predicted state parameter, a predicted state variance parameter; obtaining observation information determined by the satellite for the autonomous orbit at a second time; the observation information at least includes: observation parameters and design parameters.

In this embodiment, the obtaining of the initial state information of the satellite at the first time may be obtaining an initial state parameter of the satellite at the first time, and determining an initial state variance parameter and a noise parameter according to the initial state parameter; the first time may be determined according to an actual situation, and is not limited herein. As an example, the first time may be an initial epoch t₀The time of day. The initial state parameter may be an initial epoch t₀Satellite state parameter values at time of day

The

The satellite three-dimensional position, the three-dimensional speed, the transmitting and receiving hardware delay and the sunlight pressure can be obtained by using precise ephemeris fitting; determining the initial state variance parameter and the noise parameter according to the initial state parameter may be checking the initial state variance parameter according to the initial state parameter and checking the noise parameter according to a state equationAn acoustic parameter. The initial state variance parameter may be an initial state variance value, and the determining the initial state variance parameter from the initial state parameter may be based on

The noise parameter may be a noise value, which may be a fixed value, i.e. a fixed value is maintained throughout the calculation process, and may also be referred to as process noise, and the noise value may be denoted as Σ_W；

Determining the predicted state information of the satellite at the second time according to the initial state information may be determining the predicted state parameter of the satellite at the second time according to the initial state parameter, and determining the predicted state variance parameter of the satellite at the second time according to the initial state variance parameter and the noise parameter. The second time may be determined according to an actual situation, and is not limited herein. As an example, the second time may beEpocht₁The time of day. The predicted state parameter may be a satellite predicted state value; the predicted state variance parameter may be a satellite predicted state variance value.

For convenience of understanding, the perturbation motion equations of the Beidou No. three system GEO, IGSO and MEO satellites can be established by using an accurate perturbation motion model according to the on-orbit stress condition of the satellites. At known satellite initial state values

On the premise of obtaining the epoch t by integrating perturbation motion equations of three types of satellites by using a numerical integration method₁To epoch t₀State transition matrix phi_1,0All right (1)By usingState transition matrix phi_1,0 Calculating epocht₁Satellite predicted state value of time

And satellite prediction state variance values

The calculation process can be calculated by the following formula (1) and formula (2):

the observation information determined by the satellites for the autonomous orbit at the second time can be obtained by forming an inter-satellite bidirectional observation value according to any two satellites in the satellites at the second time to form orbit determination observation information; the observation information includes a plurality of observations. For ease of understanding, this is exemplified here. Will epoch t₁Two satellites are arbitrarily selected from the satellites at the moment and are respectively marked as SV_AAnd SV_BIf SV_ATransmitting a ranging signal SV_BThe observation value formed by the received signals is a forward observation value D_AB(ii) a Let SV_BTransmitting a ranging signal SV_AThe observed value formed by the received signals is a reverse observed value D_BAThen the satellite pair (SV)_AAnd SV_B) Between the tracks to determine an observed value as D_AB+D_BA. And adding all bidirectional observation values in the epoch according to the mode to obtain orbit determination observation information of all satellite pairs. As an example, the observation information may be denoted as L₁It can be understood as the epoch t₁And forming a track determination observation value by the inter-satellite bidirectional observation values in the moment.

In practical applications, a functional relation between the orbit determination observation value and the satellite state parameter can be given by establishing an observation equation, and the functional relation can be calculated by the following formula (3):

in the formula, L₁Represents an epoch t₁All of the tracks within the stack determine the observed values,

represents epoch t₁Satellite state parameter value at time, A₁A design matrix representing the observation equation, which can be a fixed value in practical applications.

In an optional embodiment of the present invention, the obtaining, based on the filtering innovation, a first flag corresponding to the observation information and a second flag corresponding to the satellite includes: obtaining an initial value of the second flag; the initial mark represents that the satellite corresponding to the observation information has orbital maneuver as a signal transmitting satellite or a signal receiving satellite; judging whether the filtering innovation is larger than a first preset threshold value or not; under the condition that the filtering information is less than or equal to the first preset threshold value, determining the first mark as a first threshold value, and re-determining the value of the second mark according to the initial value; the first threshold value represents that the observation information has no gross error and the satellite corresponding to the observation information is used as a transmitting signal satellite or a receiving signal satellite and has no orbital maneuver; determining the first mark as a second threshold value under the condition that the filtering innovation is larger than the first preset threshold value; the second threshold value represents that the observation information is gross error or the satellite corresponding to the observation information has orbital maneuver as a transmitting signal satellite or a receiving signal satellite.

In this embodiment, obtaining the initial value of the second flag may be assigning an initial value to the second flag; the initial value represents that the satellite corresponding to the observation information is used as a transmitting signal satellite or a receiving signal satellite and has orbital maneuver; the initial value may be determined according to actual conditions, and is not limited herein. As an example, the initial value may be 0.

Judging whether the filtering innovation is larger than a first preset threshold value or not; the first preset threshold is the maximum difference between the state information and the observation information; the first preset threshold is determined according to actual conditions, and is not limited herein, and as an example, the first preset threshold may be 10 m. Whether the filtering innovation is larger than a first preset threshold value or not is judged to judge whether a filtering innovation value corresponding to the observation information value is too large (overrun), and if the filtering innovation value is too large (overrun), the observation value is considered to have gross errors or orbital maneuver corresponding to the transmitting signal satellite/the receiving signal satellite.

Under the condition that the filtering information is less than or equal to the first preset threshold value, determining the first mark as a first threshold value, and re-determining the value of the second mark according to the initial value; the first threshold may be determined according to an actual situation, and is not limited herein, and as an example, the first threshold may be 0; re-determining the value of the second flag from the initial value may be updating the value of the second flag from the initial value; as an example, the initial value may be 0, and updating the value of the second flag according to the initial value may be adding 1 to the initial value 0 to obtain a value 1 of the second flag.

Determining the first mark as a second threshold value under the condition that the filtering innovation is larger than the first preset threshold value; as an example, the second threshold may be 1, and the second threshold is 1, which indicates that the observation information is gross error or that the satellite corresponding to the observation information has orbital maneuver as a transmitting signal satellite or a receiving signal satellite.

For convenience of understanding, here, by way of example, the preset threshold is denoted by l _ max, the filtering innovation is denoted by l, and the filtering innovation value of each observation value is determined: if l>l _ max, then the observation Quality flag Obs _ Quality is marked as 1; and if l is less than or equal to l _ max, marking the observation value Quality label Obs _ Quality as 0. Obs _ Quality _i1 represents that the ith observation value has gross error or the transmitting star SV of the ith observation value is established_AOr receive star SV_BThere is a maneuver.

In practical applications, a second flag (satellite Quality flag SV _ Quality) may be set for each satellite and an initial value of 0 may be assigned. Traversing all observed values of the epoch, if a certain observed value corresponds to a PRN (transmit signal satellite) number j, a PRN (receive signal satellite) number p and a first mark (an observed value Quality mark Obs _ Quality ═ 0) corresponding to the certain observed value, respectively adding 1(SV _ Quality) to the Quality marks of the satellite j and the satellite p_j+1，SV_Quality_p+ 1); i.e. to re-determine the value of the second flag from the initial value; if a first flag (an observation Quality flag Obs _ Quality ═ 1) corresponding to a certain observation value, no processing is skipped.

In an optional embodiment of the present invention, the re-determining the value of the second flag according to the initial value comprises: re-determining the value of the second mark according to the initial value and a second preset threshold value; the second preset threshold is a number greater than zero.

In this embodiment, the step of re-determining the value of the second flag according to the initial value and the second preset threshold may be to add the initial value and the second preset threshold to re-determine the value of the second flag; the second preset threshold is a number greater than zero, and the specific value of the second preset threshold can be determined according to actual conditions. In practical applications, the initial value may be zero, and the second preset threshold may be 1.

In an optional embodiment of the invention, the method further comprises: judging whether the value of the second mark is larger than the initial value; determining that the first flag is a third threshold value when the value of the second flag is less than or equal to the initial value; and the third threshold value represents that the satellite corresponding to the observation information has orbital maneuver as a transmitting signal satellite or a receiving signal satellite.

In addition, when the value of the second flag is equal to or less than the initial value, the first flag is determined to be a third threshold; the third threshold value represents that the satellite corresponding to the observation information has orbital maneuver as a signal transmitting satellite or a signal receiving satellite; the third threshold may be determined according to an actual situation, and is not limited herein. As an example, the third threshold may be 2; the initial value may be 0;

in this embodiment, it is mainly considered that if there is no satellite maneuver in this epoch, the filtering innovation overrun will be caused only by the observation gross error. According to the randomness and the small probability of the occurrence of the observation gross error, the second mark (all satellite Quality marks SV _ Quality) is a value larger than 0; if the satellite j in the epoch is maneuvered, all the first flags (observation value Quality flags Obs _ Quality) related to the satellite j will be 1, and at this time, the Quality flag SV _ Quality of the satellite j is set to be 1_jWill be equal to 0.

For ease of understanding, the example here illustrates that all satellites are traversed and all satellite quality indicators are determined: if SV _ Quality_j>0, then it means that satellite j has not maneuvered; if SV _ Quality_jA value of 0 indicates that the satellite j has maneuvered, and the Quality flag Obs _ Quality of the observation relating to the satellite j (the satellite j being either the transmitting satellite or the receiving satellite) is assigned to 2.

In an optional embodiment of the present invention, the determining, according to the predicted state information and the observation information, equivalent observation information corresponding to the observation information when the first flag and the second flag satisfy a first preset condition includes: and under the condition that the first mark and the second mark meet the condition that the first mark is the second threshold value and the second mark is larger than the initial value, determining equivalent observation information corresponding to the observation information according to the predicted state information and the observation information.

In this embodiment, when the first flag and the second flag satisfy that the first flag is the second threshold and the second flag is greater than the initial value, it indicates that there is no maneuvering for the transmitting satellite or the receiving satellite that establishes the observation information, and an excessively large value (overrun) of the filtering innovation corresponding to the observation information indicates that there is an observation abnormality, and the filtering innovation occurs in an observation value range, and it can be considered that there is a gross error in the value corresponding to the observation information. For ease of understanding, the absence of maneuver for the transmitting or receiving star establishing the observation information if the first flag and the second flag satisfy that the first flag is the second threshold and the second flag is greater than the initial value may be the absence of maneuver for the transmitting or receiving star establishing the observation information if the first flag and the second flag satisfy that the first flag is 1 and the second flag is greater than 0.

In an optional embodiment of the present invention, the determining, according to the predicted state information and the observation information, equivalent observation information corresponding to the observation information includes: determining an observation variance expansion factor corresponding to the observation information according to the prediction state information and the observation information; determining the equivalent observation information based on the observation variance inflation factor and the observation information.

In this embodiment, determining the observation variance expansion factor corresponding to the observation information according to the predicted state information and the observation information may be calculating a standard residual error corresponding to the observation information according to the predicted state information and the observation information, and then determining the observation variance expansion factor corresponding to the observation information based on the standard residual error corresponding to the observation information; as an example, the standard residual corresponding to the observation information may be an observation value standard residual.

Determining the equivalent observation information based on the observation variance inflation factor and the observation information may be multiplying the observation variance inflation factor with the observation information to determine the equivalent observation information. As an example, the observation information may be an observation variance. In practical applications, the observation variance may be an initial observation variance.

In an optional embodiment of the present invention, the determining, according to the predicted state information and the observation information, an observation variance inflation factor corresponding to the observation information includes: determining a filter gain parameter corresponding to the observation information according to the prediction state information and the observation information; determining correction information corresponding to the observation information based on the filter gain parameter, the prediction state information and the observation information; obtaining a standard residual error corresponding to the observation information according to the correction information; and determining an observation variance expansion factor corresponding to the observation information based on the standard residual error.

In this embodiment, determining the filter gain parameter corresponding to the observation information according to the prediction state information and the observation information may be determining the filter gain parameter corresponding to the observation information according to a prediction state variance parameter in the prediction state information and an initial observation variance parameter in the observation information. As an example, the prediction state variance parameter may be a prediction state variance value, which is recorded as

The initial observation variance parameter may be an initial observation variance value, which is denoted as Σ₀In practical application, the epoch t is used₁The satellite observation variance value at the moment is approximate to the initial observation variance value, and the observation variance value is recorded as sigma₁(ii) a The filter gain parameter may be a filter gain matrix, denoted as K.

The determination of the correction information corresponding to the observation information based on the filter gain parameter, the predicted state information, and the observation information may be a determination of a state parameter of a satellite based on the filter gain parameter, the predicted state information, and the observation information, and a determination of correction information corresponding to the observation information based on the state parameter, the filter gain parameter, the predicted state information, and the observation information. The state parameter may be a satellite state parameter at the epoch second time, and as an example, the satellite state parameter at the epoch second time may be an epoch t₁The satellite state parameter value at the moment of time is recorded

The correction information at least includes a correction number corresponding to the observation information, a correction number variance corresponding to the observation information, and an error in the correction number corresponding to the observation information₁(ii) a Correction number corresponding to the observation informationVariance can be observed value correction variance, and is marked as

And recording the error in the correction number corresponding to the observation information as

Obtaining the standard residual corresponding to the observation information according to the correction information may be determining the standard residual corresponding to the observation information according to the correction number corresponding to the observation information and an error in the correction number corresponding to the observation information. As an example, the error in the correction corresponding to the observation information and the correction corresponding to the observation information may be divided to determine the standard residual corresponding to the observation information.

Determining an observation variance expansion factor corresponding to the observation information based on the standard residual error may be determining the observation variance expansion factor corresponding to the observation information according to the standard residual error and a preset threshold value; the preset threshold may be determined according to actual conditions, and as an example, the preset threshold may be [1,1.5]]And taking values of the interval, wherein the preset threshold value can be marked as a. Determining an observation variance expansion factor corresponding to the observation information according to the standard residual error and a preset threshold value to judge whether the standard residual error is larger than the preset threshold value; under the condition that the standard residual is larger than a preset threshold value, the observation variance expansion factor is the standard residual; under the condition that the standard residual error is less than or equal to a preset threshold value, the observation variance expansion factor is 1; the observation variance inflation factor is lambda₁。

In an optional embodiment of the present invention, the performing filtering update based on the equivalent observation information includes:

In this embodiment, the first state parameter may be a satellite state parameter, and the first state variance determined by the first state parameter may be calculated according to the first state parameter.

Updating the first state parameter based on the equivalent observation information may be updating a filter gain parameter based on the equivalent observation information, and then updating the first state parameter based on the updated filter gain parameter;

updating the first state variance of the satellite based on the updated first state parameter may be recalculating the first state variance of the satellite based on the updated first state parameter.

In practical applications, the prediction state variance parameter may be a prediction state variance value, i.e. a prediction state variance valueEpocht₁The variance value of the satellite prediction state at the moment is recorded as

The initial observation variance parameter may be an initial observation variance value, i.e., epoch t₀The observed variance value of the time is recorded as Σ₀Here epoch t₁The observed variance value of the time is recorded as Σ₁，Σ₁＝Σ₀The filter gain parameter corresponding to the observation information may be a filter gain matrix, and the filter gain matrix may be denoted as K, so that the filter gain matrix K may be calculated by the following formula (4):

in the formula (4), A₁Design matrix representing an observation equation, Σ₁Represents an epoch t₁The observed variance value of the time of day,

represents an epoch t₁The satellite at that time predicts the state variance value.

Determining correction information corresponding to the observation information based on the filter gain parameter, the prediction state information and the observation information may be determining correction information corresponding to the observation information according to the filter gain parameter, the prediction state parameter in the prediction state information and the observation parameter in the observation information; wherein, the correction information at least comprises a correction number corresponding to the observation information, a correction number variance corresponding to the observation information, and an error in the correction number corresponding to the observation information.

Determining correction information corresponding to the observation information according to the filter gain parameter, the prediction state parameter in the prediction state information and the observation parameter in the observation information, wherein the correction information may be a correction number corresponding to the observation information determined according to the filter gain parameter, the prediction state parameter in the prediction state information and the observation parameter in the observation information; based on the correction number

For convenience of understanding, a practical application scenario is illustrated here, and the prediction state variance parameter may be a prediction state variance value, that is, a prediction state variance valueEpocht₁The variance value of the satellite prediction state at the moment is recorded as

The initial observation variance parameter may be an initial observation variance value, i.e., epoch t₀The observed variance value of the time is recorded as Σ₀Here epoch t₁The observed variance value of the time is recorded as Σ₁，Σ₁＝Σ₀The filter gain parameter corresponding to the observation information may be a filter gain matrix, and the filter gain matrix may be denoted as K₁Then filter gain matrix K₁Can be calculated by the following equation (5):

in the formula (5), A₁Design matrix representing observation equation, sigma₁Represents an epoch t₁The observed variance value of the time of day,

to representEpocht₁The satellite at that time predicts the state variance value.

The observation value correction number can be calculated by the following equations (6) and (7):

in the formulae (6) and (7),

represents an epoch t₁A satellite state parameter value at a time; v₁The observation correction number is represented.

The observation value correction variance can be calculated by the following formula (8):

order to

The error in the observed value correction can be calculated by the following equation (9):

in the formula (9), m represents an epoch t₁Determining the number of observed values by the inner track;

represents an epoch t₁Error in the correction of the ith observation in (i).

The observation standard residual can be calculated by the following equation (10):

the observation variance expansion factor can be calculated by the following equation (11):

in the formula (11), a is an artificially set threshold value, and is generally a value in the interval of [1,1.5 ].

The equivalent observed variance can be calculated by the following equation (12):

the update of the filtered observation with the equivalent observation variance can be calculated by the following equations (13), (14), (15):

in the formulae (13), (14) and (15),

representing the updated filter gain matrix,

represents the updated satellite state parameter values,

representing the updated satellite state variance values.

In an optional embodiment of the present invention, the determining, according to the predicted state information and the observation information, equivalent state information of the satellite in a case where the first flag and the second flag satisfy a second preset condition includes: and determining equivalent state information of the satellite according to the predicted state information and the observation information under the condition that the first flag and the second flag meet the condition that the first flag is the third threshold value and the second flag is equal to the initial value.

In this embodiment, in the case that the first flag and the second flag satisfy that the first flag is the third threshold and the second flag is equal to the initial value, it indicates that there is a maneuver for the transmitting satellite or the receiving satellite that establishes the observation information, and if the value of the filtering innovation corresponding to the observation information is too large (overrun), it is a state anomaly, and the filtering innovation occurs in a state value domain, and it can be considered that there is a maneuver for the transmitting satellite or the receiving satellite corresponding to the observation information. For ease of understanding, the transmit or receive star presence maneuver indicating establishment of the observation information if the first flag and the second flag satisfy that the first flag is the third threshold and the second flag is equal to the initial value may be the transmit or receive star presence maneuver indicating establishment of the observation information if the first flag and the second flag satisfy that the first flag is 2 and the second flag is equal to 0.

In an optional embodiment of the present invention, the determining equivalent state information of the satellite according to the predicted state information and the observation information comprises: determining an adaptive factor corresponding to the predicted state information according to the predicted state information and the observation information; determining equivalent state information for the satellite based on the predicted state information and the adaptive factor.

In this embodiment, determining, according to the predicted state information and the observation information, an adaptive factor corresponding to the predicted state information may be a rootAnd determining state parameters of the satellite according to the observation information, and calculating an adaptive factor corresponding to the predicted state information based on the predicted state information and the state parameters. As an example, the determination process of the state parameter may refer to the above formula (3); the predicted state parameter can be a predicted state value, namely a satellite predicted state value at the second time of the epoch, and can be recorded as

The state parameter may be a satellite state parameter value, i.e. a satellite state parameter value at the second epoch time, noted as

Determining the equivalent state information for the satellite based on the predicted state information and the adaptive factor may be determining the equivalent state information for the satellite based on a predicted state variance in the predicted state information and the adaptive factor.

In an optional embodiment of the present invention, the determining, according to the predicted state information and the observation information, an adaptive factor corresponding to the predicted state information includes: determining a standardized deviation corresponding to the prediction state information according to the prediction state information and the observation information; and determining an adaptive factor corresponding to the prediction state information based on the normalized deviation.

In this embodiment, determining the normalized deviation corresponding to the predicted state information according to the predicted state information and the observation information may be calculating the normalized deviation corresponding to the predicted state information according to the predicted state information and the observation information; as an example, the normalized deviation corresponding to the prediction state information may be a parameter normalized deviation, which may be recorded as | δ X₁L; in practical application, a trace of satellite prediction state parameter variance matrix can be obtained and recorded as

According to the predicted state information and theThe observation information may calculate a normalized deviation corresponding to the prediction state information by calculating the normalized deviation corresponding to the prediction state information from the prediction state information and the traces of the observation information and the prediction state parameter variance matrix.

Determining an adaptive factor corresponding to the predicted state information based on the normalized deviation so as to determine the adaptive factor corresponding to the predicted state information based on the normalized deviation and a preset threshold; the preset threshold may be determined according to an actual situation, the preset threshold may be 2.5, and the preset threshold may be recorded as c.

updating the two-state parameters based on the equivalent state information;

In this embodiment, the second state parameter may be a satellite state parameter, and the second state variance determined by the second state parameter may be calculated according to the second state parameter.

Updating the second state parameter based on the equivalent state information may be updating a filter gain parameter based on the equivalent state information, and then updating the second state parameter based on the updated filter gain parameter;

updating the first state variance of the satellite based on the updated second state parameter may be recalculating the second state variance of the satellite based on the updated second state parameter.

In practical applications, the predicted state parameter may be a predicted state value, i.e. epoch t₁The satellite predicted state value of the time is recorded as

The satellite state parameter may be a satellite state parameter value, namely, epoch t₁The satellite state parameter value at the moment of time is recorded

Determining a normalized deviation corresponding to the predicted state information based on the predicted state parameters and the satellite state parameters may be calculated by equation (16) as follows:

in the formula (16), the compound represented by the formula,

predicting trace of state parameter variance matrix, | δ X, for satellite₁And | represents a normalized deviation corresponding to the prediction state information.

The adaptive factor corresponding to the predicted state information may be calculated by the following equation (17):

in the formula (17), c is a threshold value set artificially, and is usually set to 2.5.

The equivalent prediction state variance can be calculated by the following equation (18):

the filtered observation update of the maneuvering satellite state parameters using the equivalent predicted state variance can be calculated by the following equations (19), (20), (21):

in the formulae (19), (20), (21),

representing a filter gain matrix after the state parameters of the maneuvering satellite are subjected to filter observation updating by using the equivalent prediction state variance,

represents the satellite state parameter value after filtering, observing and updating the maneuvering satellite state parameter by using the equivalent prediction state variance,

and the satellite state variance value is obtained by filtering, observing and updating the maneuvering satellite state parameters by using the equivalent prediction state variance.

According to the embodiment, observation abnormity and state abnormity can be effectively distinguished, the autonomous orbit determination precision of the Beidou third system under the abnormal condition can be greatly improved on the premise that the autonomous orbit determination real-time resolving process is not interrupted, and the reliability of the global service performance of the Beidou third system is guaranteed.

Fig. 2 is a schematic view of an application scenario of the robust adaptive filtering method based on satellite autonomous orbit determination according to the embodiment of the present invention, as shown in fig. 2. The signs of the parameters and the calculation formula can refer to the above description, and are not repeated herein.

S201: inputting initial state value of satellite

State parameter a priori expected variance

Observation ofValue prior variance Σ₀Prior process noise of state equation ∑ b_W。

In this embodiment, the initial state value of the satellite

Representing an initial epoch t₀The satellite state parameter values at the moment comprise the three-dimensional position, the three-dimensional speed, the transmitting and receiving hardware delay and the sunlight pressure of the satellite, and can be obtained by using precise ephemeris fitting; sigma_WAnd remains unchanged throughout the calculation.

S202: predicting and calculating epoch t₁Time satellite prediction state value X₁And satellite prediction state variance values

In the embodiment, the perturbation motion equation of the Beidou third system GEO, IGSO and MEO satellite can be established by using the accurate perturbation motion model according to the on-orbit stress condition of the satellite. At known satellite initial state values

And satellite prediction state variance values

The specific calculation process can refer to the above formulas (1) and (2).

S203: orbit determination observation value D consisting of inter-satellite bidirectional observation values_AB+D_BA。

In this embodiment, the epoch t is divided into₁The inter-satellite bidirectional observed values of the satellites in time form an orbit determination observed value,the process is as follows: arbitrarily selecting two SV satellites_AAnd SV_BIf SV_ATransmitting a ranging signal SV_BThe observation value formed by the received signals is a forward observation value D_AB(ii) a Let SV_BTransmitting a ranging signal SV_AThe observed value formed by the received signals is a reverse observed value D_BAThen the satellite pair (SV)_AAnd SV_B) Between the tracks to determine an observed value as D_AB+D_BA. All bidirectional observations within the epoch are summed in this manner to obtain the orbit determination observations for all satellite pairs.

S204: and establishing an observation equation.

In this embodiment, an observation equation is established, a functional relation between the orbit determination observation value and the satellite state parameter is given, and the specific calculation process may refer to the formula (3).

S205: and calculating the filtering innovation l of each observation value of the epoch.

In this embodiment, epoch t is calculated using satellite predicted state information and observation information₁The filtering innovation values of all observed values at the moment can be calculated by referring to the formula (4).

S206：SV_Quality＝0

In this embodiment, a second flag is set for each satellite, and the second flag may also be referred to as a satellite Quality flag, which is recorded as SV _ Quality, and is assigned with an initial value of 0.

S207: and judging whether l is larger than l-max.

In this embodiment, l-max is the maximum value of the preset threshold, and the filtering innovation value can be used as a parameter representing the difference between the state information and the observation information. Therefore, if the filtering innovation value of the observation value is too large (overrun), the observation value can be considered to have gross error or the observation value has orbital maneuver corresponding to the transmitting signal satellite/the receiving signal satellite. The invention sets a threshold value l _ max and judges the filtering innovation value of each observation value.

S208：obs_Quality＝0,SV_Quality＝1。

In this embodiment, if l is less than or equal to l _ max, the observation Quality label Obs _ Quality is marked as 0. And traversing all observed values of the epoch:if an observed value corresponds to a transmitting signal satellite PRN number j, a receiving signal satellite PRN number p, and the Quality flags Obs _ Quality is 0, then respectively adding 1 to the Quality flags of the satellite j and the satellite p (SV _ Quality)_j+1，SV_Quality_p+1)；

S209：obs_Quality＝1,SV_Quality＝0。

In this embodiment, the filtering innovation value of each observation value is determined: if l>l _ max, then the observation Quality flag Obs _ Quality is marked as 1; obs _ Quality _i1 represents that the ith observation value has gross error or the transmitting star SV of the ith observation value is established_AOr receive star SV_BThere is a maneuver. And traversing all observed values of the epoch: if an observation value corresponds to a transmitting signal satellite PRN number j and a receiving signal satellite PRN number p, and if an observation value Quality flag Obs _ Quality is 1, skipping to not perform any processing.

S210: and judging whether SV _ Quality > 0 is satisfied.

In this embodiment, it is mainly considered that if there is no satellite maneuver in the epoch, the filtering innovation overrun will be caused only by the observation gross error. According to the randomness and the small probability of the occurrence of the observation gross error, the Quality marks SV _ Quality of all the satellites at the moment are a value which is more than 0; if the satellite j in the current epoch is maneuvered, all the Quality flags Obs _ Quality associated with the observation values of the satellite j will be 1, and the Quality flag SV _ Quality of the satellite j will be equal to 0. Therefore, whether the satellite is in motion or not can be determined by judging whether SV _ Quality is larger than 0 or not.

S211: the satellite is not motorized.

In this embodiment, when SV _ Quality > 0 is satisfied, it indicates that the satellite j is not mobile.

S212: and calculating equivalent observation variance.

In the present embodiment, the equivalent observation variance can be calculated by referring to the above equations (5) to (12).

S213: satellite maneuver, obs_Quality＝2

In the present embodiment, when SV _ Quality > 0 is not satisfied, that is, SV _ Quality > 0 is satisfied^SV_Quality_j＝0，This indicates that a maneuver has occurred for satellite j, and the Quality indicator Obs _ Quality associated with the observation for satellite j (either satellite j as the transmitting or receiving satellite) is assigned a value of 2. Therefore, the Quality marks of all observed values Obs _ Quality are judged, and if Obs _ Quality_iAnd 2, the observation value contains a maneuvering star.

S214: and calculating the equivalent predicted state variance of the mobile satellite.

In this embodiment, the equivalent observation variance can be calculated by referring to the above equations (16) to (18).

S215: and carrying out filtering observation updating by using the equivalent observation variance or the equivalent prediction state variance.

In this embodiment, the filtering observation update using the equivalent observation variance can refer to the foregoing equations (13) - (15); the filtered observation update using the equivalent prediction state variance can be referred to the above equations (19) - (21).

In this embodiment, the epoch t can be performed by repeating the steps S202 to S215₂The autonomous orbit determination calculation. By analogy, the satellite orbits of all time periods are calculated.

Compared with the prior art, the invention has the beneficial effects that: observation abnormity and state abnormity are considered in the determination and calculation of the autonomous orbit of the BDS-3 satellite, and the applicable scene of the autonomous orbit determination algorithm is expanded; the algorithm provided by the invention can effectively reduce the influence of observation abnormity and state abnormity on the determination precision of the BDS-3 autonomous orbit; the availability and the reliability of the BDS-3 satellite autonomous orbit determination result can be effectively improved by utilizing the algorithm provided by the invention.

Fig. 3 is a schematic structural diagram of a robust adaptive filtering apparatus determined based on a satellite autonomous orbit according to an embodiment of the present invention, and as shown in fig. 3, the apparatus 300 includes: an obtaining unit 301, a determining unit 302, a first updating unit 303 and a second updating unit 304, wherein:

the obtaining unit 301 is configured to obtain predicted state information of the satellite and observation information determined by the autonomous orbit of the satellite;

the determining unit 302 is configured to determine filtering information corresponding to the observation information based on the prediction state information and the observation information obtained by the obtaining unit 301; the filtering information represents a difference between the prediction state information and the observation information;

the obtaining unit 301 is further configured to obtain a first flag corresponding to the observation information and a second flag corresponding to the satellite based on the filtering information determined by the determining unit 302; the first mark represents whether the observation information has gross errors or whether the satellite corresponding to the observation information has orbital maneuver as a transmitting signal satellite or a receiving signal satellite; the second mark represents whether the satellite corresponding to the observation information is used as a transmitting signal satellite or a receiving signal satellite and has orbital maneuver or not;

the first updating unit 303 is configured to determine equivalent observation information corresponding to the observation information according to the predicted state information and the observation information when the first flag and the second flag obtained by the obtaining unit 301 satisfy a first preset condition, and perform filtering updating based on the equivalent observation information; the first preset condition represents that observation abnormity exists in the observation information;

the second updating unit 304 is configured to, when the first flag and the second flag obtained by the obtaining unit 301 satisfy a second preset condition, determine equivalent state information of the satellite according to the predicted state information and the observation information, and perform filtering updating based on the equivalent state information; and the second preset condition represents that the observation information has abnormal state.

In other embodiments, the obtaining unit 301 is further configured to obtain initial state information of the satellite at a first time; the initial state information includes at least: initial state parameters, initial state variance parameters and noise parameters; determining predicted state information of the satellite at a second time according to the initial state information; the prediction state information includes at least: a predicted state parameter, a predicted state variance parameter; obtaining observation information determined by the satellite for the autonomous orbit at a second time; the observation information at least includes: observation parameters and design parameters.

In other embodiments, the obtaining unit 301 is further configured to obtain an initial value of the second flag; the initial mark represents that the satellite corresponding to the observation information has orbital maneuver as a signal transmitting satellite or a signal receiving satellite; judging whether the filtering innovation is larger than a first preset threshold value or not; under the condition that the filtering information is less than or equal to the first preset threshold value, determining the first mark as a first threshold value, and re-determining the value of the second mark according to the initial value; the first threshold value represents that the observation information has no gross error and the satellite corresponding to the observation information is used as a transmitting signal satellite or a receiving signal satellite and has no orbital maneuver; determining the first mark as a second threshold value under the condition that the filtering innovation is larger than the first preset threshold value; the second threshold value represents that the observation information is gross error or the satellite corresponding to the observation information has orbital maneuver as a transmitting signal satellite or a receiving signal satellite.

In other embodiments, the obtaining unit 301 is further configured to determine the value of the second flag again according to the initial value and a second preset threshold; the second preset threshold is a number greater than zero.

In other embodiments, the apparatus 300 further comprises, a determining unit,

the determining unit 302 is further configured to determine that the first flag is a third threshold value when the value of the second flag is less than or equal to the initial value; and the third threshold value represents that the satellite corresponding to the observation information has orbital maneuver as a transmitting signal satellite or a receiving signal satellite.

In other embodiments, the first obtaining unit 301 is further configured to obtain a tensile strain curve of the power conductor, and determine the tension parameter of each conductor unit according to the tensile strain curve.

In another embodiment, the determining unit 302 is further configured to determine equivalent observation information corresponding to the observation information according to the predicted state information and the observation information when the first flag and the second flag satisfy that the first flag is the second threshold and the value of the second flag is greater than the initial value.

In other embodiments, the first updating unit 303 is further configured to determine, according to the predicted state information and the observation information, an observation variance inflation factor corresponding to the observation information; determining the equivalent observation information based on the observation variance inflation factor and the observation information.

In other embodiments, the first updating unit 303 is further configured to determine a filter gain parameter corresponding to the observation information according to the prediction state information and the observation information; determining correction information corresponding to the observation information based on the filter gain parameter, the prediction state information and the observation information; obtaining a standard residual error corresponding to the observation information according to the correction information; and determining an observation variance expansion factor corresponding to the observation information based on the standard residual error.

In other embodiments, the first updating unit 303 is further configured to obtain a first state parameter and a first state variance of the satellite; the first state variance is determined by the first state parameter; updating the first state parameter based on the equivalent observation information; and updating the first state variance of the satellite according to the updated first state parameter.

In another embodiment, the second updating unit 304 is further configured to determine equivalent state information of the satellite according to the predicted state information and the observation information when the first flag and the second flag satisfy that the first flag is the third threshold and the second flag is equal to the initial value.

In other embodiments, the second updating unit 304 is further configured to determine an adaptive factor corresponding to the predicted state information according to the predicted state information and the observation information; determining equivalent state information for the satellite based on the predicted state information and the adaptive factor.

In other embodiments, the second updating unit 304 is further configured to determine a normalized deviation corresponding to the predicted state information according to the predicted state information and the observation information; and determining an adaptive factor corresponding to the prediction state information based on the normalized deviation.

In other embodiments, the second updating unit 304 is further configured to obtain a second state parameter and a second state variance of the satellite; the second state parameter is determined from the observation information; the second state variance is determined by the second state parameter; updating the two-state parameters based on the equivalent observation information; and updating the second state variance according to the updated second state parameter.

The above description of the apparatus embodiments, similar to the above description of the method embodiments, has similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the apparatus according to the invention, reference is made to the description of the embodiments of the method according to the invention for understanding.

It should be noted that, in the embodiment of the present invention, if the foregoing robust adaptive filtering method based on satellite autonomous orbit determination is implemented in the form of a software functional module and is sold or used as a standalone product, it may also be stored in a computer-readable storage medium. With this understanding in mind, technical embodiments of the present invention or portions thereof that contribute to the prior art may be embodied in software products stored on a storage medium and including instructions that cause a robust adaptive filtering apparatus (which may be a personal computer, a server, or a network device) based on satellite autonomous orbit determination to perform all or part of the methods described in the various embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the invention are not limited to any specific combination of hardware and software.

Correspondingly, the embodiment of the invention provides an adaptive robust filtering device based on satellite autonomous orbit determination, which comprises a memory and a processor, wherein the memory stores a computer program capable of running on the processor, and the processor executes the program to realize the steps in the adaptive robust filtering method based on satellite autonomous orbit determination provided by the embodiment.

Correspondingly, the embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps in the robust adaptive filtering method based on satellite autonomous orbit determination provided by the above-mentioned embodiment.

Here, it should be noted that: the above description of the storage medium and device embodiments, similar to the description of the method embodiments above, has similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the storage medium and the apparatus according to the invention, reference is made to the description of the embodiments of the method according to the invention.

It should be noted that fig. 4 is a schematic structural diagram of a hardware entity of the robust adaptive filtering apparatus based on satellite autonomous orbit determination according to the embodiment of the present invention, as shown in fig. 4, the hardware entity of the robust adaptive filtering apparatus 400 based on satellite autonomous orbit determination includes: a processor 401 and a memory 403, optionally, the robust adaptive filtering device 400 based on satellite autonomous orbit determination may further comprise a communication interface 402.

It will be appreciated that the memory 403 can be either volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRmb Access), and Random Access Memory (DRAM). The memory 403 described in connection with the embodiments of the invention is intended to comprise, without being limited to, these and any other suitable types of memory.

The method disclosed in the above embodiments of the present invention may be applied to the processor 401, or implemented by the processor 401. The processor 401 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 401. The Processor 401 described above may be a general purpose Processor, a Digital Signal Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. Processor 401 may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present invention. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed by the embodiment of the invention can be directly implemented by a hardware decoding processor, or can be implemented by combining hardware and software modules in the decoding processor. The software modules may be located in a storage medium located in memory 403, and processor 401 reads the information in memory 403 and performs the steps of the foregoing method in conjunction with its hardware.

In an exemplary embodiment, the satellite autonomous orbit determination based robust adaptive filter Device may be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, Micro Controllers (MCUs), microprocessors (microprocessors), or other electronic components for performing the foregoing methods.

In the embodiments provided in the present invention, it should be understood that the disclosed method and apparatus can be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only one logical functional division, and other division ways may be implemented in practice, such as: multiple units or components may be combined, or may be integrated into another observation, or some features may be omitted, or not performed. In addition, the communication connections between the components shown or discussed may be through interfaces, indirect couplings or communication connections of devices or units, and may be electrical, mechanical or other.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Read-Only Memory (ROM), a magnetic disk, or an optical disk.

Alternatively, the integrated unit according to the embodiment of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. With this understanding in mind, technical embodiments of the present invention or portions thereof that contribute to the prior art may be embodied in software products stored on a storage medium and including instructions that cause a robust adaptive filtering apparatus (which may be a personal computer, a server, or a network device) based on satellite autonomous orbit determination to perform all or part of the methods described in the various embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a magnetic or optical disk, or other various media that can store program code.

The robust adaptive filtering method, apparatus and computer storage medium based on satellite autonomous orbit determination described in the embodiments of the present invention are only examples of the embodiments of the present invention, but are not limited thereto, and the scope of the present invention is only that the robust adaptive filtering method, apparatus and computer storage medium based on satellite autonomous orbit determination be involved.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present invention, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention. The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and all such changes or substitutions are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. An robust adaptive filtering method based on satellite autonomous orbit determination, the method comprising:

2. The method of claim 1, wherein obtaining the predicted state information of the satellite and the observation information determined by the autonomous orbit of the satellite comprises:

obtaining initial state information of the satellite at a first time; the initial state information includes at least: an initial state parameter, an initial state variance parameter;

3. The method of claim 1, wherein obtaining the first indicator corresponding to the observation information and the second indicator corresponding to the satellite based on the filtering innovation comprises:

4. The method of claim 3, wherein said re-determining the value of the second flag from the initial value comprises:

5. The method of claim 4, further comprising:

judging whether the value of the second mark is larger than the initial value;

6. The method according to claim 5, wherein the determining equivalent observation information corresponding to the observation information according to the predicted state information and the observation information in the case that the first flag and the second flag satisfy a first preset condition includes:

7. The method of claim 1, wherein determining equivalent observation information corresponding to the observation information according to the predicted state information and the observation information comprises:

8. The method of claim 7, wherein determining an observed variance expansion factor for the observed information based on the predicted state information and the observed information comprises:

9. The method of claim 1, wherein the updating the filter based on the equivalent observation information comprises:

10. The method of claim 5, wherein determining equivalent state information of the satellite according to the predicted state information and the observation information if the first flag and the second flag satisfy a second preset condition comprises:

11. The method of claim 1, wherein determining equivalent state information for the satellite based on the predicted state information and the observed information comprises:

12. The method of claim 11, wherein determining an adaptation factor corresponding to the predicted state information based on the predicted state information and the observed information comprises:

13. The method of claim 1, wherein the updating the filter based on the equivalent state information comprises:

updating the two-state parameters based on the equivalent state information;

14. An apparatus for robust adaptive filtering based on satellite autonomous orbit determination, the apparatus comprising: the device comprises an obtaining unit, a determining unit, a first updating unit and a second updating unit, wherein:

15. The apparatus of claim 14, wherein the obtaining unit is further configured to obtain initial state information of the satellite at a first time; the initial state information includes at least: initial state parameters, initial state variance parameters and noise parameters; determining predicted state information of the satellite at a second time according to the initial state information; the prediction state information includes at least: a predicted state parameter, a predicted state variance parameter; obtaining observation information determined by the satellite for the autonomous orbit at a second time; the observation information at least includes: observation parameters and design parameters.

16. The apparatus according to claim 14, wherein the obtaining unit is further configured to obtain an initial value of the second flag; the initial mark represents that the satellite corresponding to the observation information has orbital maneuver as a signal transmitting satellite or a signal receiving satellite; judging whether the filtering innovation is larger than a first preset threshold value or not; under the condition that the filtering information is less than or equal to the first preset threshold value, determining the first mark as a first threshold value, and re-determining the value of the second mark according to the initial value; the first threshold value represents that the observation information has no gross error and the satellite corresponding to the observation information is used as a transmitting signal satellite or a receiving signal satellite and has no orbital maneuver; determining the first mark as a second threshold value under the condition that the filtering innovation is larger than the first preset threshold value; the second threshold value represents that the observation information is gross error or the satellite corresponding to the observation information has orbital maneuver as a transmitting signal satellite or a receiving signal satellite.

17. The apparatus according to claim 16, wherein the obtaining unit is further configured to re-determine the value of the second flag according to the initial value and a second preset threshold; the second preset threshold is a number greater than zero.

18. The apparatus according to claim 17, further comprising, a judging unit,

19. The apparatus according to claim 18, wherein the determining unit is further configured to determine equivalent observation information corresponding to the observation information according to the predicted state information and the observation information if the first flag and the second flag satisfy that the first flag is the second threshold and the value of the second flag is greater than the initial value.

20. The apparatus of claim 14, wherein the first updating unit is further configured to determine an observation variance expansion factor corresponding to the observation information according to the predicted state information and the observation information; determining the equivalent observation information based on the observation variance inflation factor and the observation information.

21. The apparatus of claim 20, wherein the first updating unit is further configured to determine a filter gain parameter corresponding to the observation information according to the prediction state information and the observation information; determining correction information corresponding to the observation information based on the filter gain parameter, the prediction state information and the observation information; obtaining a standard residual error corresponding to the observation information according to the correction information; and determining an observation variance expansion factor corresponding to the observation information based on the standard residual error.

22. The apparatus of claim 14, wherein the first updating unit is further configured to obtain a first state parameter and a first state variance of the satellite; the first state variance is determined by the first state parameter; updating the first state parameter based on the equivalent observation information; and updating the first state variance of the satellite according to the updated first state parameter.

23. The apparatus of claim 18, wherein the second updating unit is further configured to determine equivalent state information of the satellite according to the predicted state information and the observation information if the first flag and the second flag satisfy that the first flag is the third threshold and the second flag is equal to the initial value.

24. The apparatus according to claim 14, wherein the second updating unit is further configured to determine an adaptive factor corresponding to the predicted state information according to the predicted state information and the observation information; determining equivalent state information for the satellite based on the predicted state information and the adaptive factor.

25. The apparatus according to claim 24, wherein the second updating unit is further configured to determine a normalized deviation corresponding to the predicted status information according to the predicted status information and the observation information; and determining an adaptive factor corresponding to the prediction state information based on the normalized deviation.

26. The apparatus of claim 14, wherein the second updating unit is further configured to obtain a second state parameter and a second state variance of the satellite; the second state parameter is determined from the observation information; the second state variance is determined by the second state parameter; updating the two-state parameters based on the equivalent observation information; and updating the second state variance according to the updated second state parameter.

27. An adaptive filter apparatus for robust estimation based on autonomous orbit determination of satellites, comprising a memory and a processor, the memory storing a computer program operable on the processor, wherein the processor when executing the program performs the steps of the method according to any of claims 1 to 13.

28. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 13.