CN113916717B - Stratosphere atmospheric density inversion method based on low orbit spacecraft occultation - Google Patents
Stratosphere atmospheric density inversion method based on low orbit spacecraft occultation Download PDFInfo
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- G—PHYSICS
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Abstract
The invention relates to a stratosphere atmospheric density inversion method based on low orbit spacecraft occultation, and belongs to the technical field of remote sensing. Firstly, a stratosphere atmospheric density inversion model is provided, and the model is the basis of the implementation of the invention; and combining the geometrical relationship of starlight refraction and the determination of spacecraft orbit to provide a method for inverting the three-dimensional coordinates of the atmospheric density points and determining the position of the spacecraft at the beginning of the occultation. The invention can obtain the global three-dimensional and quasi-real-time atmospheric density model. The defect of low space coverage rate of direct measurement and ground remote sensing is overcome, the cost is lower compared with a radio star masking method, and the structure is simpler and is relatively easy to realize.
Description
Technical Field
The invention relates to a stratosphere atmospheric density inversion method based on low orbit spacecraft occultation, and belongs to the technical field of remote sensing.
Background
The atmospheric model is a description of the space-time distribution of various parameters in the atmosphere, and the determination of atmospheric parameters has important influence on the fields of weather, astronomy, aerospace and the like, so that the atmospheric model has been widely studied for a long time. The current atmospheric detection mainly comprises three methods of direct measurement, foundation remote sensing and space-based remote sensing.
Direct measurement refers to the measurement of atmospheric parameters at the location of the carrier by means of a series of instruments, such as thermometers, manometers, anemometers and the like. In the measurement of aerometeorology, it is generally necessary to mount aerospace vehicles such as sounding balloons, rockets, satellites and the like. Wherein the sounding balloon can be used for acquiring vertical data of the lower atmosphere, the main problem encountered is limited altitude range [1] And horizontal interference [2] . Satellite atmospheric resistance inversion is used for measuring high-level atmospheric density data [3] However, the space-time resolution and the precision of satellite resistance inversion have certain limitations.
Compared with direct measurement, the foundation remote sensing has a qualitative breakthrough in the height detection range. Generally, the reliability and cost of the remote sensing of the foundation are good, but the mode is limited by special areas such as mountains, deserts, oceans and the like. According to the frequency range selected by different radars such as medium frequency, very high frequency, meteor, laser and the like, the spatial resolution is different from 1 km to several km, and the time resolution is different from 10 minutes to 60 minutes.
The direct reason for the occurrence of space-based remote sensing, i.e. meteorological satellites, is the need for increasing the time and space distribution density of meteorological data by the numerical forecasting work of the weather. Direct observation and ground based remote sensing can obtain relatively accurate data, but the coverage area of the system is still a small part of the system relative to the whole world. The NOAA (National Oceanic and Atmospheric Administration) satellites transmitted in the united states analyze the temperature, ozone content, etc. components through the characteristics of different mats in the visible and infrared bands, and one instantaneous observation area can occupy 2% of the earth's surface area. A polar orbit satellite can obtain meteorological data of a global main area in half a day. Four stationary satellites on the equator, theoretically, cover all equatorial regions [4] 。
The radio occultation is a novel atmospheric observation mode, and is different from the traditional meteorological satellite, the radio occultation receives signals from other satellites rather than the satellite points, and the characteristic of the radio occultation gives the radio occultation a more flexible detection range and more measurement information. The earliest radio inversion concept was derived from the 60 s, g.fjeldbo et al, which analyzed the refractive index change of the Mars lower atmosphere using this method [5] . Until after the 90 s, radio occultation is not started to be used for the earth's atmosphere detection [6] . At present, the radio occultation has developed various inversion means such as geometric optical inversion, fresnel diffraction inversion and the like, and the geometric optical inversion has obvious reference value for starlight refraction inversion [7] . The problem with radio occultation is the cost of the signal source, and if a large range of atmospheric observations are to be achieved, the orbit design of satellites, coordination between satellites, and the effect of different atmospheric components on electromagnetic wave signals are all difficulties to be addressed.
Reference is made to:
[1] liu Zhixin, shen Yanmei, wang Rui. Method for increasing the altitude of an air-detecting balloon [ J ]. Heilongjiang weather, 2004,5 (2): 38-39.
[2] Liu Gongya, xue Jishan, shen Tongli, et al. Investigation of sounding balloon drift and its influence on log prediction [ J ]. Applied weather report, 2005,16 (04): 105-113.
[3] Li Rexi inversion of the thermal layer atmospheric density [ D ] using low-orbit satellite data, university of China science and technology, 2017.
[4]G.Davis.History of the NOAA satellite program[J].Journal of Applied Remote Sensing,2007,1(1):341-353.
[5]G.Fjeldbo,V.R.Eshleman.The atmosphere of mars analyzed by integral inversion ofthe Mariner IV occultation data[J].Planetary Space Science,1968,16(8):1035-1059.
[6]E.R.Kursinski,G.A.Hajj,W.I.Bertiger,et al.Initial Results of Radio Occultation Observations of Earth's Atmosphere Using the Global Positioning System[J].Science,1996,271(5252):1107-1110.
[7] Wang Xin, lv Daren GPS radio occultation technique inversion of atmospheric parameters method contrast [ J ]. Geophysical journal, 2007,02): 346-353.
Disclosure of Invention
The invention solves the technical problems: the stratosphere atmospheric density inversion method based on the satellite-occultation of the low-orbit spacecraft is provided, atmospheric parameters are inverted by using starlight refraction information based on the low-orbit spacecraft, global stratosphere three-dimensional and quasi-real-time atmospheric model parameters are obtained, meanwhile, the defect of low space coverage rate of direct measurement and foundation remote sensing is overcome, and compared with a radio satellite-occultation method, the method is lower in cost, simpler in structure and easier to realize.
The technical proposal of the invention is as follows: a stratosphere atmospheric density inversion method based on low orbit spacecraft occultation, an atmospheric density inversion method based on star sensor utilizing starlight refraction information, comprises the following steps:
(1) Calculating and recording the position of the spacecraft at the starting moment of the occultation;
(2) Starting from the spacecraft reaching the position determined in the step (1), performing star map processing on a star map shot by a star sensor, recording the vector direction of starlight before refraction and the refraction angle of starlight, simultaneously recording the position information output by a navigation system of the spacecraft, and continuously recording data until the star masking process is finished;
(3) Calculating the viewing height according to the geometrical relationship by using the spacecraft position, the vector direction of the starlight before refraction and refraction angle data recorded in the step (2);
(4) Calculating the atmospheric density corresponding to each group of data by using the refraction angle data recorded in the step (2) and the apparent height data calculated in the step (3) and using an atmospheric density inversion formula based on starlight refraction;
(5) Calculating the three-dimensional coordinates of the inversion atmospheric density point according to the geometrical relationship by using the spacecraft position, the starlight vector direction before refraction and refraction angle data recorded in the step (2);
in the step (4), an atmospheric density inversion formula based on starlight refraction is as follows:
where ρ represents the density value at the inversion atmospheric density point, r e Is the radius of the earth, h a,max And h a The maximum apparent height in the process of occultation and the apparent height at the inversion atmospheric density point are respectively, R (h a1 ) A representative viewing height of h a1 Angle of refraction at time, k G-D Representing Gladstone-Dale constants.
In the step (5), the three-dimensional coordinate calculation method at the inversion atmospheric density point is as follows:
in (x) GP ,y GP ,z GP ) Representing three-dimensional coordinates of inversion atmospheric density points; (x, y, z) is the current position of the spacecraft; (l, m, n) is the direction vector of the refracted front star; distance T between spacecraft and inversion atmospheric density point d Is a definite party of (2)The method is as follows:
T d ＝r s (sinχ-cosχtan R/2) (3)
wherein χ represents the included angle between the orbit plane of the spacecraft and the tangent plane of the starlight before refraction, r s Representing the ground centre distance of the spacecraft.
In the step (1), the method for calculating the position of the spacecraft at the beginning of the occultation is as follows:
the spacecraft orbit is expressed as:
ax+by+cz＝0 (5)
wherein (a, b, c) represents the spatial orientation of the plane of orbit of the spacecraft;
for spacecraft positions where a refractive star can be observed, the following formula is satisfied:
lx+my+nz+r s sinχ＝0 (6)
calculating according to the formulas (4) to (6) to obtain the position of the spacecraft, wherein (x, y, z) is the current three-dimensional coordinate of the spacecraft;
wherein:
α＝bl-am
β＝cl-an
γ＝cm-bn
W＝r s sinχ
the formula (4) is as follows:
in addition, spacecraft position also needs to satisfy:
lx+my+nz＜0 (10)
compared with the prior art, the invention has the advantages that:
(1) The three-dimensional and quasi-real-time stratosphere atmospheric density model can be obtained, and the method has an indispensable effect on the field of needing to use the high-precision global atmospheric density model like starlight refraction navigation technology;
(2) Compared with the existing atmospheric density model acquisition method, the method overcomes the defect of low space coverage rate of direct measurement and foundation remote sensing; the density value of one or more points in different height sections can be measured only by direct measurement and ground remote sensing, but the invention can cover the whole world, the coverage rate is related to spacecraft orbit, limit star of star sensor and the like, for example, a near polar orbit satellite is selected, the limit star and the like is 6, and 96% of the region of the whole world can be covered within 63 hours.
(3) The cost of signal sources and the problem of inter-satellite coordination in the radio satellite masking method are not required to be considered. The method of radio occultation can also achieve global coverage, but the method needs to consider the problem of inter-satellite coordination, the complexity of the problem can be greatly improved, and the cost can also be improved. While the present invention observes that natural celestial bodies do not take this problem into account.
Drawings
FIG. 1 is a diagram of a technical gist of the present invention;
FIG. 2 is a geometric relationship of a refractive star light to a spacecraft;
FIG. 3 is a block diagram of an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples.
As shown in fig. 1 and 3, the technical solution of the present invention is as follows: the global atmospheric density inversion method based on starlight refraction comprises the following steps:
1. for a certain spacecraft, the orbit equation is known, the star table can be searched to obtain the direction of a starlight vector, and the position p of the spacecraft at the beginning of a certain starlight mask star is calculated according to the geometric relation expressed in the technical essential point 3 0 ；
2. From space flightThe device reaches the position p determined in the step 1 0 Firstly, star map processing is carried out on star maps shot by a star sensor, and the flow of the star map processing is as follows: (1) Preprocessing a star map shot by a star sensor to reduce noise and improve signal to noise ratio; (2) Performing star map segmentation by using a seed growth method, and separating star points and a background; (3) Extracting the barycenter coordinates of the star points by using a barycenter method with a threshold value; (4) Performing star map identification by using a triangle matching algorithm to enable the photographed star map to correspond to a star table; (5) Obtaining the direction of star vectors before and after the refraction of the star, the refraction angle and the included angle between the star vectors before and after the refraction; recording the vector direction mu of the starlight before refraction 0i And the calculated star refraction angle alpha i Simultaneously recording position information x output by spacecraft navigation system i Continuously recording data until the star masking process is finished;
3. spacecraft position x recorded by step 2 i Direction mu of vector of starlight before refraction 0i Angle of refraction alpha i Calculating the viewing height h according to the geometric relationship ai ；
4. Refraction angle alpha recorded by step 2 i The apparent height h calculated in step 3 ai Calculating the atmospheric density rho corresponding to each group of data by using an atmospheric density inversion formula (1) based on starlight refraction provided by the technical key point 1; according to the information substituted into formula (1), the method can directly solve;
5. spacecraft position x recorded by step 2 i Direction mu of vector of starlight before refraction 0i Angle of refraction alpha i The three-dimensional coordinates (x) at the inversion atmospheric density points are calculated according to the method given in technical gist 2 GP ，y GP ，z GP )。
As shown in fig. 1, the technical gist of the present invention is as follows:
1. atmospheric density inversion model based on starlight refraction
The invention is the inverse application of starlight refraction positioning, and the atmospheric density at the refraction height is calculated by inversion of known spacecraft position and observation starlight refraction information. The atmospheric density inversion formula based on starlight refraction is:
where ρ represents the density value at the inversion atmospheric density point, r e Is the radius of the earth, h a，max And h a The maximum apparent height in the process of occultation and the apparent height at the inversion atmospheric density point are respectively, R (h a1 ) A representative viewing height of h a1 Angle of refraction at time, k G-D Representing Gladstone-Dale constants.
From equation (11), the atmospheric density inversion calculation requires the observation viewing height and the refraction angle corresponding to the viewing height in the known occultation process. The refraction angle can be observed by a star sensor, and the apparent height is calculated by the following method:
wherein R is a position vector of the spacecraft under an inertial system, u is a star light direction unit vector before refraction, R is a refraction angle,is negligible in small amounts.
2. Inversion position determination
According to the technical key point 1, the density value of the inversion atmospheric density point can be calculated, and the three-dimensional coordinates of the inversion atmospheric density point are needed to be obtained for obtaining the global three-dimensional atmospheric density model. The calculation method comprises the following steps:
in (x) GP ,y GP ,z GP ) Representing three-dimensional coordinates of inversion atmospheric density points; (x, y, z) is the current position of the spacecraft; (l, m, n) is the direction vector of the refracted front star; distance T between spacecraft and inversion atmospheric density point d The calculation method of (2) is as shown in formula (14):
T d ＝r s (sinχ-cosχtan R/2) (14)
wherein χ represents the included angle between the orbit plane of the spacecraft and the tangent plane of the starlight before refraction, the specific representation method is shown in figure 2, r s The ground center distance of the spacecraft is represented, and R represents the magnitude of the refraction angle of starlight.
3. Determination of spacecraft position at the start of occultation
The atmospheric inversion calculation is an integration process, so solving for density also requires knowledge of the position of the spacecraft at the beginning and end of the integration. The star masking end is easy to distinguish according to the photographed star map, and the star masking process is ended when the target star cannot be observed; the refraction is weak at the beginning of the star masking, and when the star masking process begins is difficult to determine by simply shooting a star map, so that the geometrical relationship between a spacecraft and starlight is needed to be relied on for resolving. The method for calculating the position of the spacecraft at the beginning of the occultation is as follows:
spacecraft orbit may be expressed as:
x 2 +y 2 +z 2 ＝r s 2 (15)
ax+by+cz＝0 (16)
wherein (a, b, c) represents the spatial orientation of the plane of orbit of the spacecraft.
For spacecraft positions where a refractive star can be observed, the following formula is satisfied:
lx+my+nz+r s sinχ＝0 (17)
the position of the spacecraft can be calculated according to the formulas (15) to (17), and the calculation result is as follows:
wherein:
α＝bl-am
β＝cl-an
γ＝cm-bn
W＝r s sinχ
the formula (15) is as follows:
in addition, spacecraft position also needs to satisfy:
lx+my+nz＜0 (21)
while particular embodiments of the present invention have been described above, it will be understood by those skilled in the art that these are by way of example only and that various changes and modifications may be made to these embodiments without departing from the principles and implementations of the invention, the scope of which is defined in the appended claims.
Claims (2)
1. A stratosphere atmospheric density inversion method based on low orbit spacecraft occultation is characterized by comprising the following steps: the method comprises the following steps:
(1) Calculating and recording the position of the spacecraft at the starting moment of the occultation;
(2) Starting from the spacecraft reaching the position determined in the step (1), performing star map processing on a star map shot by a star sensor, recording the vector direction of starlight before refraction and the refraction angle of starlight, simultaneously recording the position information output by a navigation system of the spacecraft, and continuously recording data until the star masking process is finished;
(3) Calculating the viewing height based on the geometrical relationship by utilizing the spacecraft position, the vector direction of the starlight before refraction and the data of the refraction angle of the starlight output by the spacecraft navigation system;
(4) Calculating the atmospheric density corresponding to each group of data by using the star refraction angle data recorded in the step (2) and the apparent height data calculated in the step (3) and using an atmospheric density inversion formula based on star refraction;
(5) Calculating three-dimensional coordinates of inversion atmospheric density points based on geometrical relations by using the spacecraft position, the starlight vector direction before refraction and the data of the starlight refraction angle recorded in the step (2);
in the step (4), an atmospheric density inversion formula based on starlight refraction is as follows:
where ρ represents the density value at the inversion atmospheric density point, r e Is the radius of the earth, h a,max And h a The maximum apparent height in the process of occultation and the apparent height at the inversion atmospheric density point are respectively, R (h a1 ) A representative viewing height of h a1 The refractive angle of the time star, k G-D Represents Gladstone-Dale constant;
in the step (5), the three-dimensional coordinate calculation method at the inversion atmospheric density point is as follows:
in (x) GP ,y GP ,z GP ) Representing three-dimensional coordinates at the inversion atmospheric density points; (x, y, z) is the current position of the spacecraft; (l, m, n) is the direction vector of the refracted front star; distance T between spacecraft and inversion atmospheric density point d The determination method of (2) is as follows:
T d ＝r s (sinχ-cosχtanR/2) (3)
wherein χ represents the included angle between the orbit plane of the spacecraft and the tangent plane of the starlight before refraction, r s The ground center distance of the spacecraft is represented, and R represents the magnitude of the refraction angle of starlight.
2. The stratosphere atmospheric density inversion method based on low orbit spacecraft occultation as set forth in claim 1, wherein: in the step (1), the method for calculating the position of the spacecraft at the beginning of the occultation is as follows:
the spacecraft orbit is expressed as:
x 2 +y 2 +z 2 ＝r s 2 (4)
ax+by+cz＝0 (5)
wherein (a, b, c) represents the spatial orientation of the plane of orbit of the spacecraft; (x, y, z) is the current position of the spacecraft;
for a spacecraft in which a refractive star is observed, its position satisfies the following equation:
lx+my+nz+r s sinχ＝0 (6)
(l, m, n) is the direction vector of the refracted front starlight, r s The ground center distance of the spacecraft is represented, and χ represents the included angle between the orbit plane of the spacecraft and the tangent plane of the starlight before refraction;
calculating according to the formulas (4) to (6) to obtain the position of the spacecraft, wherein (x, y, z) represents the three-dimensional coordinate of the spacecraft;
wherein:
α＝bl-am
β＝cl-an
γ＝cm-bn
W＝r s sinχ
the formula (4) is as follows:
in addition, spacecraft position also needs to satisfy:
lx+my+nz＜0 (10)。
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