CN115510387A - Earth satellite orbit rapid calculation method and system based on point allocation iteration - Google Patents
Earth satellite orbit rapid calculation method and system based on point allocation iteration Download PDFInfo
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Abstract
The invention discloses a method and a system for quickly calculating an earth satellite orbit based on collocation point iteration, which belong to the technical field of aerospace, and are used for selecting interval step length of single calculation and collocation points in each calculation interval; setting and calculating the position and speed estimation value of the earth satellite at each point matching time in the interval according to the initial position and speed of the earth satellite; performing iterative correction on the position and speed estimation value of the earth satellite at each coordination point moment by adopting a local coordination point feedback iterative method; and (4) judging whether the position and the speed state of the earth satellite in all the running time are completely calculated or not, and repeating the steps until the end point time of the calculation interval reaches the target calculation time length. The method adopts a feedback iteration method to estimate and correct the position and speed information of the earth satellite, adopts a point matching method to avoid integral symbol operation so as to reduce the calculated amount, adopts CGL point matching so as to improve the calculation precision of the speed and the position of the earth satellite at the tail end of each interval, and provides a high-efficiency and high-precision calculation method for the earth satellite orbit prediction.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a method and a system for quickly calculating an earth satellite orbit based on point allocation iteration.
Background
The rapid calculation problem of the orbit dynamics is a basic problem in the aerospace engineering, is widely applied to tasks such as orbit design, space capture and deep space exploration, and has important significance in researching a novel efficient calculation method of the problem. A plurality of earth orbit dynamics problems are formally expressed as ordinary differential equation initial value problems, and the problems are given to the initial position and the speed state of an earth satellite and recurred according to a satellite orbit dynamics equation. The classical numerical solution of the initial value problem of orbital dynamics is a finite difference method, and representatives thereof include Euler (Euler) method, runge-Kutta (dragon-Kutta) method, and the like.
However, the calculation accuracy of the finite difference method depends heavily on a small step length, the performance of the method is limited, and the requirements of the real-time performance of the earth satellite orbit of the mission and the high efficiency and high accuracy of the long-term solution process are difficult to meet in missions such as the pursuit and escape game of the spacecraft and the rapid on-orbit maintenance of the failed spacecraft.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a fast earth satellite orbit calculation method based on coordination point iteration so as to improve the calculation precision and efficiency of the earth satellite orbit.
The invention is realized by the following technical scheme:
a fast calculation method of earth satellite orbit based on coordination point iteration comprises the following steps:
s1, constructing a Chebyshev basis function according to the calculation interval step length of a target track and the number of matching points in each calculation interval step length;
s2, determining estimated values of the position and the speed of the earth satellite at each coordination point moment in a calculation interval step length according to the initial position and the speed of the earth satellite;
s3, iteratively correcting the position and speed estimation values of the earth satellite at each point matching time according to a Bischoff basis function and an iteration method to obtain the corrected position and speed estimation values of the earth satellite at each point matching time;
and step S4: and (4) taking the estimated values of the position and the speed of the earth satellite at the last coordination moment obtained by correction in the current calculation interval step length, taking the estimated values of the position and the speed as the initial position and the initial speed of the earth satellite in the next calculation interval step length, and repeating the steps S2-S4 until the end time of the calculation interval step length is equal to the running time length of the target earth satellite to obtain the orbit parameters of the target satellite.
Preferably, the number M of matched points in the step 1 is set, M CGL nodes are selected in the range of the step of the calculation interval according to the number M of matched points, matched point time vectors are constructed according to the M CGL nodes, and Chebyshev basis functions are constructed according to the matched point time vectors.
Preferably, the bischoff basis functions include a chebyshev basis function value square matrix, a chebyshev basis function differential value square matrix, and a chebyshev basis function integral value square matrix.
Preferably, the state values of the position and the velocity in the interval step calculated in step 2 are constantly equal to the initial position vector and the velocity vector of the earth satellite.
Preferably, the iterative method in step 3 is a local coordination point feedback iterative method.
Preferably, the method for obtaining the estimated positions and velocities of the earth satellites at the respective coordinated points after the correction in step 3 is as follows:
s3.1, iteratively correcting the position and speed estimation values of the earth satellite at each matching point moment according to the Bischoff basis function;
s3.2, calculating two norms of difference vectors of the position and speed estimation values of each coordination point of the earth satellite after the k +1 th iteration correction and the k th iteration correction;
and 3.3, enabling the second norm to be larger than the iteration termination precision error limit value, enabling k = k +1, repeating the step 3.1 until the second norm is smaller than or equal to the iteration termination precision error limit value, and obtaining estimated values of the position and the speed of the earth satellite at each distribution point moment after the k +1 th iteration correction in the step length of the previous calculation interval.
Preferably, the iterative modification formula in step S3.1 is as follows:
x k+1 ＝x k -P(Dx k -g(x k ))
wherein x is k ＝[x 1 k (τ)；x 2 k (τ)；x 3 k (τ)；x 4 k (τ)；x 5 k (τ)；x 6 k (τ)；]For the estimated values of 6 state quantities representing the position and the speed of the earth satellite after the k iteration correction at each coordination point, x k+1 And P is a Chebyshev basis function integral value square matrix corresponding to M CGL nodes, D is a Chebyshev basis function differential value square matrix corresponding to M CGL nodes, and g is a first-order orbital dynamics system right end function value vector corresponding to M CGL nodes after time scaling.
Preferably, the expression of the two-norm e in step S3.2 is as follows:
e＝||x k+1 -x k || 2
a system of earth satellite orbit fast calculation method based on coordination point iteration comprises,
the Chebyshev basis function module is used for constructing a Chebyshev basis function according to the calculation interval step length of the target track and the number of matched points in each calculation interval step length;
the estimation module is used for determining the estimated values of the position and the speed of the earth satellite at each matching point moment in the step length of the calculation interval according to the initial position and the speed of the earth satellite;
the estimation correction module is used for carrying out iterative correction on the position and speed estimation values of the earth satellite at each point matching time according to a Bischoff basis function and an iteration method to obtain the position and speed estimation values of the earth satellite at each point matching time after correction;
and the orbit calculation module is used for taking the estimated values of the position and the speed of the earth satellite at the last coordination point moment obtained by correction in the current calculation interval step length as the initial position and the initial speed of the earth satellite in the next calculation interval step length, repeatedly calculating the estimated values of the position and the speed of the earth satellite at each coordination point moment in the interval step length, and performing iterative correction until the end point moment of the calculation interval step length is equal to the running time length of the target earth satellite to obtain the orbit parameters of the target satellite.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention discloses a method for quickly calculating an earth satellite orbit based on coordinated point iteration, which comprises the following steps: selecting interval step length of single calculation and the number of matching points in each calculation interval; setting and calculating the position and speed estimation value of the earth satellite at each matching point time in the interval according to the initial position and speed of the earth satellite; performing iterative correction on the position and speed estimation value of the earth satellite at each coordination point moment by adopting a local coordination point feedback iterative method; and (4) judging whether the position and the speed state of the earth satellite in all the running time are completely calculated or not, and repeating the steps until the end point time of the calculation interval reaches the target calculation time length. The method adopts a feedback iteration method to estimate and correct the position and speed information of the earth satellite, adopts a point matching method to avoid integral sign operation so as to reduce the calculated amount, adopts CGL point matching so as to improve the calculation precision of the speed and the position of the earth satellite at the tail end of each interval, and provides a high-efficiency and high-precision calculation method for the earth satellite orbit prediction.
Drawings
FIG. 1 is a schematic diagram of a method for quickly calculating an earth satellite orbit based on point collocation iteration;
FIG. 2 is a flow chart of the method for fast computing the earth satellite orbit based on point collocation iteration
FIG. 3 is a diagram illustrating the result of the earth satellite orbit fast calculation method based on coordination point iteration;
Detailed Description
The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which the invention is shown by way of illustration and not by way of limitation.
As shown in fig. 1 and fig. 2, a method for fast computing an earth satellite orbit based on coordination point iteration includes the following steps:
step S1, constructing a Chebyshev basis function according to the calculation interval step length of the target track and the number of matched points in each calculation interval step length, wherein the specific method comprises the following steps:
s1.1, setting a calculation interval step length delta t, and combining an initial time t of the calculation interval step length according to the calculation interval step length delta t 0 Determining the end time t of calculating the step length of the calculation interval f ；
t f ＝t 0 +Δt
S1.2, setting the number M of matched points in the calculation interval step length, and selecting M CGL nodes in the range of the calculation interval step length < -1,1 > according to the number M of matched points.
The method for selecting M CGL nodes comprises the following steps:
s1.3, constructing a matching point time vector tau = [ tau ] according to M CGL nodes 1 ,τ 2 ,…,τ M ]；
S1.4, constructing a Chebyshev basis function, wherein the Chebyshev basis function comprises a Chebyshev basis function value square matrix C, a Chebyshev basis function differential value square matrix D and a Chebyshev basis function integral value square matrix P.
Constructing a Chebyshev basis function value square matrix C corresponding to the M CGL nodes according to the collocation time vector, wherein the construction rule is as follows:
C＝[cos(0arccos(τ T )),cos(1arccos(τ T )),…,cos((M-1)arccos(τ T ))]；
constructing a Chebyshev basis function differential value square matrix D corresponding to M CGL nodes according to the collocation point moment vector and the Chebyshev basis function value square matrix C, wherein the construction rule is as follows:
wherein the content of the first and second substances,
D 1 ＝[D 1 1 ,D 1 2 ,…,D 1 M ]，
wherein (D) 1 k ) 1,1 ＝(-1) k (k-1) 2 ,(D 1 k ) M,1 ＝(k-1) 2 ,k＝1,…,M；
Wherein the content of the first and second substances,
constructing a Chebyshev basis function integral value square matrix P corresponding to M CGL nodes according to the point matching moment vector Chebyshev basis function value square matrix C, wherein the construction rule is as follows:
wherein, P = P 1 C -1 ，P 1 ＝[P 1 1 ,P 1 2 ,…,P 1 M ]，
Wherein, P 1 1 ＝1+τ T ,
Wherein, the first and the second end of the pipe are connected with each other,
wherein, the first and the second end of the pipe are connected with each other,
wherein, the first and the second end of the pipe are connected with each other,
step S2: determining the estimated value of the position and the speed of the earth satellite at each coordination point moment in the step length of the calculation interval according to the initial position and the speed of the earth satellite, wherein the estimated value of the position and the speed of the earth satellite at each coordination point moment in the step length of the calculation interval is as follows:
calculating the state value of the position and the speed in the interval step length to be equal to the initial position vector r of the earth satellite 0 And velocity vector v 0 ；
The iteration count variable k =0.
And step S3: iteratively correcting the position and speed estimation value of the earth satellite at each coordination point time according to a Bischoff basis function in combination with a local coordination point feedback iteration method to obtain the corrected position and speed estimation value of the earth satellite at each coordination point time, and specifically comprising the following steps:
s3.1, iteratively correcting the position and speed estimation values of the earth satellite at each coordination point moment according to the Bischoff basis function, wherein the iterative correction formula is as follows:
x k+1 ＝x k -P(Dx k -g(x k ))
wherein x is k ＝[x 1 k (τ)；x 2 k (τ)；x 3 k (τ)；x 4 k (τ)；x 5 k (τ)；x 6 k (τ)；]For the estimated values of 6 state quantities representing the position and the speed of the earth satellite after the k iteration correction at each coordination point, x k+1 For the estimated values of state quantities of 6 characterization positions and speeds of the earth satellite subjected to the (k + 1) -th iterative correction at each distribution point, P is a Chebyshev-basis function integral value square matrix corresponding to M CGL nodes, D is a Chebyshev-basis function differential value square matrix corresponding to M CGL nodes, g is a right-end function value vector of the orbital dynamics system in a first-order form corresponding to the M CGL nodes after time scaling, and each element value of the g vector is a first-order derivative value of a corresponding element in the x vector at the corresponding distribution point;
s3.2, calculating the two norms e of difference vectors of the position and speed estimation values of the earth satellite at each distribution point after the (k + 1) th iteration correction and the k-th iteration correction, wherein the formula is as follows:
e＝||x k+1 -x k || 2
s3.3, judging whether the two norms of difference vectors of the position and speed estimation values of each distribution point of the earth satellite subjected to the iteration correction for the (k + 1) th time and the kth time are less than or equal to the iteration termination precision error limit value or not, and obtaining a first judgment result;
if the first judgment result shows no, namely the second norm is greater than the iteration termination precision error limit value, enabling k = k +1, and returning to the step S3.1 to perform iterative correction on the position and speed estimation values of the earth satellite at each distribution point moment;
and if the first judgment result shows that the two norms are smaller than or equal to the iteration termination precision error limit value, recording the position and speed estimation values of the earth satellite at each collocation point moment after the (k + 1) th iteration correction in the current calculation interval step length.
Determining interval step length [ -1,1] according to the calculated interval step length and the moment vector of the construction and distribution point]Actual time t corresponding to mth CGL node in range m And recording the real time and the actual time t corresponding to each calculation result m The calculation method of (2) is as follows:
and step S4: and (4) taking the estimated values of the position and the speed of the earth satellite at the last coordination moment obtained by iterative correction in the current calculation interval step length as the initial position and the initial speed of the earth satellite in the next calculation interval step length, and repeating the steps S2 to S4 until the end point time t of the previous calculation interval step length f The method is equal to the running time length of the target earth satellite to obtain the orbit parameters of the target satellite, and comprises the following steps:
judging the current calculation interval step length t 0 ,t f ]End point time t of f Whether the running time length of the target earth satellite is equal to the running time length of the target earth satellite to be estimated or not is judged, and a second judgment result is obtained;
if the second judgment result shows yes, outputting all interval calculation results, and stopping calculation;
and if the second judgment result shows that the satellite position and the satellite velocity are not within the second calculation interval, taking the last coordination moment in the current calculation interval as the initial moment of the next calculation interval, taking the position and the velocity of the earth satellite at the last coordination moment obtained by iterative correction in the current calculation interval as the initial position and the initial velocity of the earth satellite in the next calculation interval, and repeating the steps S2 to S4.
Embodiments of the present invention will be described below with reference to the drawings.
The invention provides a local coordination point feedback iteration method aiming at the calculation problem of the earth satellite orbit, which comprises the following steps:
the first step is as follows: for the orbit prediction problem of the near-earth satellite, selecting a single-step calculation subinterval step size, the number M of matched points in the single-step calculation step size and a single-step calculation termination iteration precision error limit according to engineering requirements; and determining the dispensing time according to the number of dispensing points in the selected single step calculation step, and constructing a dispensing time vector tau, a Chebyshev basis function differential value square matrix D and a Chebyshev basis function integral value square matrix P corresponding to the number of the selected dispensing points.
The second step is that: setting an iteratively corrected state quantity as a 6M dimensional column vector x, wherein the vector 1 to the Mth elements correspond to state estimation values of an earth satellite x-axis coordinate at all distribution points, the vector M +1 to the 2M element correspond to state estimation values of an earth satellite y-axis coordinate at all distribution points, the vector 2M +1 to the 3M element correspond to state estimation values of an earth satellite z-axis coordinate at all distribution points, the vector 3M +1 to 4M element correspond to state estimation values of an earth satellite x-axis velocity component at all distribution points, the vector 4M +1 to 5M element correspond to state estimation values of an earth satellite y-axis velocity component at all distribution points, and the vector 5M +1 to 6M element correspond to state estimation values of an earth satellite z-axis velocity component at all distribution points; the estimated values of the position and speed state values at all the coordination points before the first iteration are set to be equal to the initial values of the position and speed of the earth satellite.
The third step: substituting iteratively modified state quantities into equation x k+1 ＝x k -P(Dx k -g(x k ) Performing iterative calculation, calculating a difference vector two-norm e of estimated values of the state vector of two iterations after each iteration, and judging whether the difference vector two-norm e is less than or equal to the precision of terminating the iterationAnd (4) limiting the error. And if the difference vector two norm e is less than or equal to the error limit of the iteration stopping precision, recording an iteration result. And if the difference vector two-norm e is larger than the precision error limit of the termination iteration, skipping to the third step to repeat the iteration and update the state vector estimated value.
The fourth step: and judging whether the states of the earth satellite in all the running time are completely calculated. And if the states of the earth satellite in all the running time are not completely calculated, taking the last point matching time of the current sub-interval as the initial time of the next sub-interval, taking the satellite position and speed state of the last point matching time of the current sub-interval as the initial value of the satellite position and speed of the next sub-interval, entering the next interval, and jumping to the second step for iterative calculation. And if the states of the earth satellite in all the running time are completely calculated, outputting a calculation result and terminating the calculation.
Example 1: the dynamic equation of the low earth satellite orbit recursion problem is as follows:
wherein r = [ x, y, z)] T Mu =3986004.418 × 10 as a low earth satellite position vector 8 m 3 /s 2 Denotes the constant of the earth's gravity, r = | | | r | |, denotes the distance between the earth's center and the centroid of the near-earth satellite, t 0 Recur the initial time for the track, a J For the perturbation term, the J2 term perturbation is considered in the present embodiment.
The iterative formula adopts a first-order form of the low earth satellite orbit recursion problem equation as follows:
in the embodiment, initial calculation conditions are shown in table 1, calculation parameters are shown in table 2, and the calculated 24-hour orbit of the low earth satellite is shown in fig. 3.
Table 1 initial calculation conditions used in example 1
| Parameter(s) | Numerical value |
| Initial position coordinate r 0 (m) | [-0.3889×10 6 ,7.7388×10 6 ,0.6736×10 6 ] T |
| Initial velocity vector v 0 (m/s) | [-4.2953×10 3 ,0,7.4396×10 3 ] T |
Table 2 calculation parameters used in example 1
| Parameter(s) | Numerical value |
| Satellite runtime/ |
1 |
| Number of distribution points/ | 10 |
| Subinterval step size/s | 60 |
| Iterative precision error limit/ |
10 -5 |
The invention discloses a terrestrial satellite orbit calculation method, which comprises the following steps: selecting interval step length of single calculation and the number of matching points in each calculation interval; setting and calculating the position and speed estimation value of the earth satellite at each matching point time in the interval according to the initial position and speed of the earth satellite; performing iterative correction on the position and speed estimation value of the earth satellite at each coordination point moment by adopting a local coordination point feedback iterative method; and (4) judging whether the position and the speed state of the earth satellite in all the running time are completely calculated or not, and repeating the steps until the end point time of the calculation interval reaches the target calculation time length.
The invention also provides a system of the earth satellite orbit rapid calculation method based on the coordination point iteration, which comprises a Chebyshev basis function module, an estimation correction module and an orbit calculation module.
The Chebyshev basis function module is used for constructing a Chebyshev basis function according to the calculation interval step length of the target track and the number of matching points in each calculation interval step length;
the estimation module is used for determining the estimated values of the position and the speed of the earth satellite at each coordination point moment in a calculation interval step length according to the initial position and the speed of the earth satellite;
the estimation correction module is used for iteratively correcting the earth satellite position and speed estimation values of the earth satellite at each coordination point moment according to a Bischoff basis function and an iteration method to obtain the corrected estimation values of the position and speed of the earth satellite at each coordination point moment;
and the orbit calculation module is used for taking the estimated values of the position and the speed of the earth satellite at the last coordination moment obtained by correction in the current calculation interval step length as the initial position and the initial speed of the earth satellite in the next calculation interval step length, repeating the calculation of the estimated values of the position and the speed of the earth satellite at each coordination moment in the calculation interval step length, and carrying out iterative correction until the end point time of the calculation interval step length is equal to the running time length of the target earth satellite, so as to obtain the orbit parameters of the target satellite.
The method adopts a feedback iteration method to estimate and correct the position and speed information of the earth satellite, adopts a point matching method to avoid integral sign operation so as to reduce the calculated amount, adopts CGL point matching so as to improve the calculation precision of the speed and the position of the earth satellite at the tail end of each interval, and provides a high-efficiency and high-precision calculation method for the earth satellite orbit prediction.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (9)
1. A method for quickly calculating an earth satellite orbit based on coordination point iteration is characterized by comprising the following steps:
s1, constructing a Chebyshev basis function according to the calculation interval step length of the target track and the number of matched points in each calculation interval step length;
s2, determining estimated values of the position and the speed of the earth satellite at each coordination point moment in a calculation interval step length according to the initial position and the speed of the earth satellite;
s3, iteratively correcting the position and speed estimation values of the earth satellite at each point matching time according to a Bischoff basis function and an iteration method to obtain the corrected position and speed estimation values of the earth satellite at each point matching time;
and step S4: and (4) taking the estimated values of the position and the speed of the earth satellite at the last coordination moment obtained by correction in the current calculation interval step length, taking the estimated values of the position and the speed as the initial position and the initial speed of the earth satellite in the next calculation interval step length, and repeating the steps S2-S4 until the end time of the calculation interval step length is equal to the running time length of the target earth satellite to obtain the orbit parameters of the target satellite.
2. The earth satellite orbit fast calculation method based on coordination point iteration as claimed in claim 1, wherein, in step 1, the number of coordination points M in the calculation interval step is set, M CGL nodes are selected in the calculation interval step range according to the number of coordination points M, coordination point time vectors are constructed according to the M CGL nodes, and Chebyshev basis functions are constructed according to the coordination point time vectors.
3. A method for rapidly calculating earth satellite orbit based on coordination point iteration as claimed in claim 1, wherein said bischoff basis functions include chebyshev basis function value square matrix, chebyshev basis function differential value square matrix and chebyshev basis function integral value square matrix.
4. An earth satellite orbit fast calculation method based on collocation iteration as claimed in claim 1 wherein, the state values of position and velocity in the calculation interval step in step 2 are constantly equal to the initial position vector and velocity vector of the earth satellite.
5. An earth satellite orbit fast calculation method based on coordination point iteration as claimed in claim 1, characterized in that said iteration method in step 3 is a local coordination point feedback iteration method.
6. An earth satellite orbit fast calculation method based on collocation iteration as claimed in claim 1 wherein, the method of obtaining the corrected estimated value of the position and velocity of the earth satellite at each collocation time in step 3 is as follows:
s3.1, iteratively correcting the position and speed estimation values of the earth satellite at each coordination point moment according to the Bischoff basis function;
s3.2, calculating two norms of difference vectors of the position and speed estimation values of each coordination point of the earth satellite after the k +1 th iteration correction and the k th iteration correction;
and 3.3, enabling the second norm to be larger than the iteration termination precision error limit value, enabling k = k +1, repeating the step 3.1 until the second norm is smaller than or equal to the iteration termination precision error limit value, and obtaining estimated values of the position and the speed of the earth satellite at each distribution point moment after the k +1 th iteration correction in the step length of the previous calculation interval.
7. An earth satellite orbit fast calculation method based on coordination point iteration as claimed in claim 6, characterized in that said iterative correction formula in step S3.1 is as follows:
x k+1 ＝x k -P(Dx k -g(x k ))
wherein x is k ＝[x 1 k (τ)；x 2 k (τ)；x 3 k (τ)；x 4 k (τ)；x 5 k (τ)；x 6 k (τ)；]Estimated values of state quantities representing positions and speeds of 6 earth satellites after the k iteration correction at each coordination point, x k+1 And P is a Chebyshev basis function integral value square matrix corresponding to M CGL nodes, D is a Chebyshev basis function differential value square matrix corresponding to M CGL nodes, and g is a right end function value vector of the orbital dynamics system in a first-order form corresponding to M CGL nodes after time scaling.
8. An earth satellite orbit fast calculation method based on coordination point iteration as claimed in claim 7, wherein said expression of the two-norm e in step S3.2 is as follows:
e＝||x k+1 -x k || 2
9. a system for performing the method for fast computation of earth satellite orbits based on coordination iteration of any one of claims 1-8, comprising,
the Chebyshev basis function module is used for constructing a Chebyshev basis function according to the calculation interval step length of the target track and the number of matched points in each calculation interval step length;
the estimation module is used for determining the estimated values of the position and the speed of the earth satellite at each matching point moment in the step length of the calculation interval according to the initial position and the speed of the earth satellite;
the estimation correction module is used for iteratively correcting the earth satellite position and speed estimation values of the earth satellite at each coordination point moment according to a Bischoff basis function and an iteration method to obtain the corrected estimation values of the position and speed of the earth satellite at each coordination point moment;
and the orbit calculation module is used for taking the estimated values of the position and the speed of the earth satellite at the last coordination moment obtained by correction in the current calculation interval step length as the initial position and the initial speed of the earth satellite in the next calculation interval step length, repeating the calculation of the estimated values of the position and the speed of the earth satellite at each coordination moment in the calculation interval step length, and carrying out iterative correction until the end point time of the calculation interval step length is equal to the running time length of the target earth satellite, so as to obtain the orbit parameters of the target satellite.
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