CN113536547B - Reliable multi-source track extrapolation independent selection method - Google Patents
Reliable multi-source track extrapolation independent selection method Download PDFInfo
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Abstract
A reliable multi-source track extrapolation independent selection method comprises the following steps: (1) Maintaining N+1 groups of track data in a track calculation task, wherein N is an N source in multi-source track extrapolation, 1 is selected track data, multi-source track calculation is performed in series, and finally result fusion is performed; (2) Performing validity verification on a data source extrapolated from a multi-source track, and performing variable data validity verification for realizing seamless switching between the initial introduction of source track data and extrapolation of two tracks; and (3) performing autonomous switching between GNSS orbit extrapolation and autonomous navigation. The invention realizes the autonomous selection method based on default selection, instruction enabling, instruction selection, seamless switching and autonomous switching. The satellite autonomous operation system well supports the use requirements of different orbits such as ground station priority, initial introduction of source orbit data, long-term autonomous operation on the satellite and the like, and effectively improves the autonomous operation capability of the satellite.
Description
Technical Field
The invention relates to a reliable multi-source orbit extrapolation autonomous selection method, belongs to the technical field of satellite attitude determination and control, and is a reliable autonomous selection method aiming at a multi-source orbit calculation task based on a ground station/GNSS/autonomous navigation.
Background
Satellite orbit determination is one of the important guarantees for achieving orbit control, accurate attitude determination, and other application tasks. The numerical method orbit extrapolation calculation accuracy is high, but the method relies on the ground station to measure the orbit and annotate the orbit periodically or relies on the GNSS receiver to provide GNSS measurement data periodically. If no external orbit data correction exists for a long time, calculating divergence by using the orbit extrapolation, and the error of the obtained orbit data gradually becomes larger. Based on autonomous navigation of the satellite sensitivity and the ground sensitivity, the method does not depend on external orbit data correction, the calculated orbit precision is general, but errors do not accumulate with time, and the method can be used for degrading long-term use.
Disclosure of Invention
The invention solves the technical problems that: the method overcomes the defects of the prior art, provides a reliable multi-source orbit extrapolation autonomous selection method, meets the requirements of reliable operation and flexible use of multi-source orbit calculation, and improves the autonomous operation capability of satellites.
The technical scheme of the invention is as follows: a reliable multi-source track extrapolation independent selection method comprises the following steps:
acquiring track data of a plurality of data sources in real time, and if not, performing track extrapolation by using track extrapolation data of the same data source in the upper period as a primary value of the period to acquire track data of the period; if the information is obtained, verifying the validity of the information; if the verification is passed, track extrapolation is carried out by using the track data to obtain the periodic track data; otherwise, track extrapolation is carried out by using track extrapolation data of the same data source in the upper period to obtain track data in the period; the track data at the initial moment is pre-bound;
acquiring an instruction in real time; if the autonomous navigation enabling instruction is acquired, autonomous navigation calculation is carried out to obtain the current period track data, and at the moment, if the switching condition is met, the autonomous navigation is switched to; otherwise, selecting the track data of the current period according to the preset track selection mark.
Further, the orbit data of the plurality of data sources comprises ground station orbit data and GNSS measurement data.
Further, the validity verification and the orbit extrapolation of the ground station orbit data and the GNSS measurement data are serial.
Further, the preset track selection mark can be modified through instructions and on-board autonomous modification.
Further, if the GNSS enabled instruction is not received, the on-board pre-binding value is used without using GNSS measurement data.
Further, the method for verifying the validity of the ground station track injection data comprises the following steps: according to the instruction setting of the working conditions, selecting a first condition of the ground station track injection data or selecting a first condition of the ground station track injection data and a second condition of the ground station track injection data; wherein:
first condition of ground station track injection data: when the current star time is ta, when the injected star time is tj, the ground track injection data corresponds to a time error limit tGMDlim, and the condition that tj+tGMDlim is more than or equal to ta is more than or equal to tj is satisfied;
ground station track data second condition: the position error, the eccentricity error and the semi-long axis error of the ground station track injection data and the satellite selected track data respectively meet preset thresholds.
Further, the method for verifying the validity of the GNSS measurement data comprises the following steps: verifying a first condition of the GNSS measurement data, a second condition of the GNSS measurement data and a third condition of the GNSS measurement data; wherein:
GNSS measurement data first conditions: the GNSS data packet communication protocol is verified, and the frame header, the length and the checksum are correctly verified;
GNSS measurement data second condition: GNSS constant diagnosis, which satisfies that 10 consecutive periods are very value data;
GNSS measurement data third condition: and verifying the track time of GNSS measurement data, wherein the current star time is ta, the GNSS time is tg, and the corresponding time error limit tGNSlim of the GNSS track injection data meets the condition that tg+tGNSlim is more than or equal to ta and more than or equal to tg-tGNSlim.
Further, the verifying of the validity of the GNSS measurement data further comprises further verifying a fourth condition of the GNSS measurement data; the fourth condition of the GNSS measurement data is: the position error, the eccentricity error and the semi-long axis error of the GNSS measurement data and the on-satellite selected orbit data respectively meet preset thresholds; or the position error, the eccentricity error and the semi-long axis error of the GNSS measurement data and the track extrapolation data of the ground station track respectively meet preset thresholds.
Further, the switching condition includes: the GNSS data communication protocol is invalid in verification, the GNSS orbit time is invalid in verification, the GNSS constant value alarms, the GNSS position error exceeds a threshold, the GNSS eccentricity error exceeds a threshold, and the GNSS semi-long axis error exceeds a threshold, and one duration is longer than a preset duration.
A computer readable storage medium storing a computer program which when executed by a processor performs the steps of the method for reliable multi-source track extrapolation autonomous selection.
Compared with the prior art, the invention has the advantages that:
(1) According to the method, through the designed multi-source orbit extrapolation main flow, multi-source orbit calculation is carried out in series and the result is fused, so that the use working conditions of diversified and complicated orbit calculation can be met, and the method is not only applicable to one, two or three of orbit calculations based on a ground station/GNSS/autonomous navigation, but also applicable to the working conditions of more orbit extrapolation.
(2) The method well supports the accuracy of the initial introduction of the track data and the autonomy of long-term use through a designed variable data validity diagnosis method.
(3) The method realizes the autonomous selection method based on default selection, instruction enabling, instruction selection, seamless switching and autonomous switching, has been applied to a certain in-orbit satellite, and has been verified in feasibility and effectiveness through engineering implementation.
Drawings
FIG. 1 is a main flow of a multi-source track computing task;
FIG. 2 is a variable validity diagnostic method for ground station orbit data;
FIG. 3 is a variable availability diagnostic method for GNSS orbit measurement data.
Detailed Description
In order to better understand the technical solutions described above, the following detailed description of the technical solutions of the present application is provided through the accompanying drawings and specific embodiments, and it should be understood that the specific features of the embodiments and embodiments of the present application are detailed descriptions of the technical solutions of the present application, and not limit the technical solutions of the present application, and the technical features of the embodiments and embodiments of the present application may be combined with each other without conflict.
The following describes in further detail a reliable multi-source track extrapolation autonomous selection method provided in the embodiments of the present application in conjunction with the accompanying drawings of the specification, and the specific implementation manner may include (as shown in fig. 1 to 3): maintaining N+1 groups of track data in a track calculation task, wherein N is an N source in multi-source track extrapolation, 1 is selected track data, multi-source track calculation is performed in series, and finally result fusion is performed; performing validity verification on a data source extrapolated from a multi-source track, and performing variable data validity verification for realizing seamless switching between the initial introduction of source track data and extrapolation of two tracks; and performing autonomous switching between GNSS orbit extrapolation and autonomous navigation.
In the scheme provided by the embodiment of the application, (1) maintaining N+1 groups of track data in a track calculation task, wherein N is an N source in multi-source track extrapolation, 1 is selected track data, multi-source track calculation is performed serially, and finally result fusion is performed;
(2) Performing validity verification on a data source extrapolated from a multi-source track, and performing variable data validity verification for realizing seamless switching between the initial introduction of source track data and extrapolation of two tracks;
(3) And performing autonomous switching between GNSS orbit extrapolation and autonomous navigation.
In one possible implementation, a track extrapolation is selected by default, a track extrapolation based on the ground station track injection is selected by default, and the track selection flag may be modified by instruction. Four sets of orbit data are maintained, namely orbit extrapolation data based on a ground station, orbit extrapolation data based on GNSS, orbit data based on autonomous navigation and orbit data selected on the satellite.
Further, the steps (1), (2) and (3) specifically comprise the following steps:
(11) A default track is selected for extrapolation, and a track selection mark can be modified by an instruction;
(12) Maintaining four groups of orbit data, namely orbit extrapolation data based on a ground station, orbit extrapolation data based on GNSS, orbit data based on autonomous navigation and orbit data selected on the satellite;
(13) Carrying out validity verification on the ground station track injection data;
(14) Calling track extrapolation, and calculating to obtain track extrapolation data based on the ground station;
(15) Performing validity verification on GNSS orbit measurement data;
(16) Calling orbit extrapolation, and calculating to obtain orbit extrapolation data based on GNSS;
(17) If autonomous navigation is enabled, performing step (18), and if autonomous navigation is not enabled, performing step (20);
(18) Performing autonomous navigation calculation based on the ground sensitivity and the star sensitivity to obtain orbit data based on autonomous navigation;
(19) Performing autonomous switching on GNSS orbit extrapolation and autonomous navigation;
(20) And according to the track selection mark, the track data selected on the satellite is corresponding track data.
The specific content of the step (13) is as follows:
in the track calculation task, judging whether the ground station track injection data arrives or not in each period, and if not, using the track extrapolation data of the upper period based on the ground station track injection as an initial value of the track extrapolation in the period. If the ground station track-injecting data arrives, the technology is designed as follows: and (3) performing variable track filling data validity verification:
(1) Track moment verification of ground station track injection data: when the current star time is ta, when the injected star time is tj, the ground track injection data corresponds to a time error limit tGMDlim, and tj+tGMDlim is more than or equal to ta and more than or equal to tj.
(2) The position error, the eccentricity error and the semi-long axis error of the ground station track injection data and the satellite selected track data respectively meet the threshold value.
(3) According to the instruction setting of the use condition, the verification content (1) is selected, or the verification contents (1) and (2) are selected.
Generally, when the ground station orbit data is introduced for the first time or when the satellite orbit data diverges, only (1) is selected for verification so as to ensure that the ground station orbit data can be introduced. When the on-board track data is good, the verification is carried out by adopting the steps (1) and (2), so that the introduction of the wrong ground station track injection data can be effectively avoided.
The variable type track filling data validity verification can meet the use requirements of different working conditions. The variable validity diagnosis method of the ground station track injection data is shown in fig. 2, wherein 'whether other validity verification D is performed or not' can be set through instructions, and variable data validity verification can be realized so as to adapt to different use conditions.
And calling track extrapolation, and calculating to obtain track extrapolation data based on the ground station.
The specific method of the step (15) is as follows:
based on the orbit extrapolation of the GNSS measurements, the introduction of GNSS receiver measurement data is disabled by default, and the initial use is enabled by instruction. In the orbit calculation task, whether the measurement data of the GNSS receiver come or not is judged every period, and if not, the orbit data extrapolated based on the GNSS orbit in the upper period is used as an initial value of the orbit extrapolation in the period. If measurement data of the GNSS receiver comes, the technology is designed as follows:
1) GNSS data packet communication protocol verification.
2) GNSS constant diagnostics, with 10 consecutive periods being very value data.
3) Track time verification of GNSS measurement data.
4) The position error, the eccentricity error and the semi-long axis error of the GNSS measurement data and the on-satellite selected orbit data respectively meet preset thresholds, or the position error, the eccentricity error and the semi-long axis error of the GNSS measurement data and the orbit extrapolation data of the ground station orbit respectively meet preset thresholds.
Wherein 1), 2), 3) are the necessary verification items, 4) are the selective verification items, and the error check can be further selected.
The variable validity diagnosis method of the GNSS orbit measurement data is shown in fig. 3, wherein 'whether to perform other validity verification G', can be set by instructions, and realizes variable data validity verification so as to adapt to different use conditions.
And calling orbit extrapolation, and calculating to obtain GNSS-based orbit extrapolation data.
The specific method of the step (19) is as follows:
under three conditions, if the GNSS data communication protocol is invalid in verification, the GNSS orbit time is invalid in verification, the GNSS constant value alarms, the GNSS position error exceeds a threshold, the GNSS eccentricity error exceeds a threshold, and the GNSS semi-long axis error exceeds a threshold, and one duration is longer than N hours, the orbit calculation is switched to the autonomous navigation mode. For example, the value of N is 24.
The method provided by the invention uses three orbit calculation modes, provides more guarantees for satellite orbit determination, and meets diversified use requirements: 1) Track extrapolation based on ground station track injection, track extrapolation based on GNSS measurement and autonomous navigation support one/two/three of the three track calculation modes to calculate simultaneously;
2) The traditional ground station track injection track extrapolation is adopted by default, and three track calculation mode switching can be reliably and autonomously carried out.
In order to realize reliable and flexible use of three kinds of track data, the method designs a multi-source track extrapolation main flow and realizes an independent selection method based on default selection, instruction enabling, instruction selection, seamless switching and independent switching. The satellite autonomous operation system well supports the use requirements of different orbits such as ground station priority, initial introduction of source orbit data, long-term autonomous operation on the satellite and the like, and effectively improves the autonomous operation capability of the satellite.
The present application provides a computer readable storage medium storing computer instructions that, when run on a computer, cause the computer to perform the method described in fig. 1.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
What is not described in detail in the present specification is a well known technology to those skilled in the art.
Claims (10)
1. A reliable multi-source track extrapolation independent selection method is characterized by comprising the following steps:
acquiring track data of a plurality of data sources in real time, and if not, performing track extrapolation by using track extrapolation data of the same data source in the upper period as a primary value of the period to acquire track data of the period; if the information is obtained, verifying the validity of the information; if the verification is passed, track extrapolation is carried out by using the track data to obtain the periodic track data; otherwise, track extrapolation is carried out by using track extrapolation data of the same data source in the upper period to obtain track data in the period; the track data at the initial moment is pre-bound;
acquiring an instruction in real time; if the autonomous navigation enabling instruction is acquired, autonomous navigation calculation is carried out to obtain the current period track data, and at the moment, if the switching condition is met, the autonomous navigation is switched to; otherwise, selecting the track data of the current period according to the preset track selection mark.
2. A reliable multi-source orbit extrapolation autonomous selection method according to claim 1, wherein: the orbit data for the number of data sources includes ground station orbit data and GNSS measurement data.
3. A reliable multi-source orbit extrapolation autonomous selection method according to claim 2, wherein: validity verification and track extrapolation for ground station orbit data and GNSS measurement data are in serial order.
4. A reliable multi-source orbit extrapolation autonomous selection method according to claim 2, wherein: the preset track selects a mark, and can be modified through instructions and autonomous modification on the satellite.
5. A reliable multi-source orbit extrapolation autonomous selection method according to claim 2, wherein: if the GNSS enable instruction is not received, the GNSS measurement data is not used, and the on-board pre-binding value is used.
6. A reliable multi-source orbit extrapolation autonomous selection method according to claim 1, wherein the method for validity verification of ground station orbit data is: according to the instruction setting of the working conditions, selecting a first condition of the ground station track injection data or selecting a first condition of the ground station track injection data and a second condition of the ground station track injection data; wherein:
first condition of ground station track injection data: when the current star time is ta, when the injected star time is tj, the ground track injection data corresponds to a time error limit tGMDlim, and the condition that tj+tGMDlim is more than or equal to ta is more than or equal to tj is satisfied;
ground station track data second condition: the position error, the eccentricity error and the semi-long axis error of the ground station track injection data and the satellite selected track data respectively meet preset thresholds.
7. A reliable multi-source orbit extrapolation autonomous selection method according to claim 1, wherein: the method for verifying the validity of the GNSS measurement data comprises the following steps: verifying a first condition of the GNSS measurement data, a second condition of the GNSS measurement data and a third condition of the GNSS measurement data; wherein:
GNSS measurement data first conditions: the GNSS data packet communication protocol is verified, and the frame header, the length and the checksum are correctly verified;
GNSS measurement data second condition: GNSS constant diagnosis, which satisfies that 10 consecutive periods are very value data;
GNSS measurement data third condition: and verifying the track time of GNSS measurement data, wherein the current star time is ta, the GNSS time is tg, and the corresponding time error limit tGNSlim of the GNSS track injection data meets the condition that tg+tGNSlim is more than or equal to ta and more than or equal to tg-tGNSlim.
8. The method of claim 7, wherein the validating the GNSS survey data further comprises further validating a fourth condition of the GNSS survey data; the fourth condition of the GNSS measurement data is: the position error, the eccentricity error and the semi-long axis error of the GNSS measurement data and the on-satellite selected orbit data respectively meet preset thresholds; or the position error, the eccentricity error and the semi-long axis error of the GNSS measurement data and the track extrapolation data of the ground station track respectively meet preset thresholds.
9. A reliable multi-source orbit extrapolation autonomous selection method according to claim 1, wherein the switching conditions include: the GNSS data communication protocol is invalid in verification, the GNSS orbit time is invalid in verification, the GNSS constant value alarms, the GNSS position error exceeds a threshold, the GNSS eccentricity error exceeds a threshold, and the GNSS semi-long axis error exceeds a threshold, and one duration is longer than a preset duration.
10. A computer readable storage medium storing a computer program, which when executed by a processor performs the steps of the method according to any one of claims 1 to 9.
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