CN116374212B - Satellite orbit correction method and device, computer equipment and storage medium - Google Patents

Satellite orbit correction method and device, computer equipment and storage medium Download PDF

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Publication number
CN116374212B
CN116374212B CN202310558624.4A CN202310558624A CN116374212B CN 116374212 B CN116374212 B CN 116374212B CN 202310558624 A CN202310558624 A CN 202310558624A CN 116374212 B CN116374212 B CN 116374212B
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satellite
tracked
orbit
determining
residual error
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CN116374212A (en
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张仲毅
齐向阳
刘宝帝
王金宇
郝凯旋
关天军
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Beijing Starneto Technology Corp ltd
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Beijing Starneto Technology Corp ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/242—Orbits and trajectories

Abstract

The application provides a satellite orbit correction method, a device, computer equipment and a storage medium, wherein in a satellite positioning stage, the instantaneous position and the instantaneous speed of a satellite to be positioned are determined according to six orbits of the satellite to be positioned; positioning the satellite to be positioned according to the instantaneous position and the instantaneous speed to obtain a satellite to be tracked; in the satellite tracking stage, according to the six orbit numbers of the satellite to be tracked at the current moment and the satellite antenna pointing angle when the satellite antenna points to the satellite to be tracked, determining six orbit number correction values of the satellite to be tracked at the next moment; and correcting the satellite running orbit of the satellite to be tracked at the next moment according to the six orbit correction values of the satellite to be tracked at the next moment. By adopting the method, the satellite orbit is corrected.

Description

Satellite orbit correction method and device, computer equipment and storage medium
Technical Field
The invention belongs to the technical field of space vehicles, and particularly relates to a satellite orbit correction method, a satellite orbit correction device, computer equipment and a storage medium.
Background
In recent years, with advances in the aerospace industry, more and more satellites are launched into space to orbit according to a predetermined orbit to perform various tasks. During the operation of the satellite, accurate predictions are not possible because the various forces encountered by the satellite during flight are too complex. As a simplest example, three-body problem: when three celestial bodies move freely under the action of gravity, their orbits cannot be predicted at all, and there is no way to describe them by formulas, and only approximation can be performed by various numerical methods, or various limiting conditions and assumptions are given. This is the so-called "three-body problem no solution". For some deep space satellites, starting is a more solution-free N-body problem, namely sun, eight major planets, more than ten minor planets, hundreds of satellites, countless minor planets and comets, various residual interstellar clouds and fragments, and even known and unknown celestial bodies in the whole universe, which exert attractive forces on the satellite in all directions.
The practical situation is far more than that, and the pressure generated by the sunlight striking on the satellite surface, the pressure caused by the thermal radiation of the satellite, the pressure generated by the starting-up operation of the satellite communication antenna, relativistic effects and the like can be generated. These factors can be very difficult to accurately predict even with the influence of factors such as the intensity of solar activity, the position of the satellite, and even the attitude of the satellite itself. Meanwhile, when an engine for controlling the satellite motion state works, the engine cannot be extremely accurate.
All factors are integrated, any satellite cannot fly directly on an ideal theoretical orbit in space, and more or less, the situation that the flight deviates from the ideal orbit occurs, so how to realize the correction of the orbit becomes a problem to be solved urgently.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a satellite orbit correction method, apparatus, computer device and storage medium for correcting an orbit.
In a first aspect, an embodiment of the present application provides a satellite orbit correction method, including:
in a satellite positioning stage, determining the instantaneous position and the instantaneous speed of a satellite to be positioned according to six orbits of the satellite to be positioned;
positioning the satellite to be positioned according to the instantaneous position and the instantaneous speed to obtain a satellite to be tracked;
in the satellite tracking stage, according to the six orbit numbers of the satellite to be tracked at the current moment and the satellite antenna pointing angle when the satellite antenna points to the satellite to be tracked, determining six orbit number correction values of the satellite to be tracked at the next moment;
and correcting the satellite running orbit of the satellite to be tracked at the next moment according to the six orbit correction values of the satellite to be tracked at the next moment.
Optionally, the six track numbers comprise a track semi-major axis, a track eccentricity, an elliptical track inclination angle, an ascending intersection point right ascent, a near-place amplitude angle and a true near-point angle;
the determining the instantaneous position and the instantaneous speed of the satellite to be positioned according to the six orbit numbers of the satellite to be positioned comprises the following steps:
determining the instantaneous position of the satellite to be positioned according to the following expressionAnd the instantaneous speed of the satellite to be localized +.>
Wherein,
a is the semi-long axis of the track; e is the track eccentricity; omega is the near-place amplitude angle; f is the true near point angle; omega is the right ascent point; i is the inclination of the elliptical orbit.
Optionally, the determining, according to the six orbits of the satellite to be tracked at the current moment and the pointing angle of the satellite antenna when the satellite antenna points to the satellite to be tracked, the correction value of the six orbits of the satellite to be tracked at the next moment includes:
determining a residual error of the satellite antenna pointing angle at the current moment according to an observed value and a theoretical calculated value of the satellite antenna pointing angle when the satellite antenna points at the satellite to be tracked at the current moment;
judging whether the residual error of the satellite antenna pointing angle at the current moment is in a preset standard residual error range or not;
and if the residual error of the pointing angle of the satellite antenna at the current time is not in the preset standard residual error range, determining the six orbit correction values of the satellite to be tracked at the next time according to the six orbit correction values of the satellite to be tracked at the current time and the six orbit correction values of the satellite to be tracked at the current time.
Optionally, after judging whether the residual error of the satellite antenna pointing angle at the current moment is within a preset standard residual error range, the method further comprises the steps of;
and if the residual error of the satellite antenna pointing angle at the current moment is in the preset standard residual error range, determining the six orbit correction values of the satellite to be tracked at the next moment to be 0.
In a second aspect, embodiments of the present application provide a satellite orbit correction device, including:
the instantaneous position and speed determining module is used for determining the instantaneous position and the instantaneous speed of the satellite to be positioned according to six orbits of the satellite to be positioned in the satellite positioning stage;
the satellite positioning module to be tracked is used for positioning the satellite to be positioned according to the instantaneous position and the instantaneous speed to obtain a satellite to be tracked;
the orbit six correction value determining module is used for determining the orbit six correction values of the satellite to be tracked at the next moment according to the orbit six of the satellite to be tracked at the current moment and the satellite antenna pointing angle when the satellite antenna points to the satellite to be tracked at the current moment;
and the satellite running orbit correction module is used for correcting the satellite running orbit of the satellite to be tracked at the next moment according to the six orbit correction values of the satellite to be tracked at the next moment.
Optionally, the six track numbers comprise a track semi-major axis, a track eccentricity, an elliptical track inclination angle, an ascending intersection point right ascent, a near-place amplitude angle and a true near-point angle;
the instantaneous position and speed determining module is used for determining the instantaneous position and the instantaneous speed of the satellite to be positioned according to six orbits of the satellite to be positioned in a satellite positioning stage, and is specifically used for:
determining the instantaneous position of the satellite to be positioned according to the following expressionAnd the instantaneous speed of the satellite to be localized +.>
Wherein,
a is the semi-long axis of the track; e is the track eccentricity; omega is the near-place amplitude angle; f is the true near point angle; omega is the right ascent point; i is the inclination of the elliptical orbit.
Optionally, the six-orbit correction value determining module is configured to, in a satellite tracking stage, determine, according to the six orbits of the satellite to be tracked and a satellite antenna pointing angle when the satellite antenna points to the satellite to be tracked at a current moment, the six-orbit correction value of the satellite to be tracked at a next moment, specifically configured to:
determining a residual error of the satellite antenna pointing angle at the current moment according to an observed value and a theoretical calculated value of the satellite antenna pointing angle when the satellite antenna points at the satellite to be tracked at the current moment;
judging whether the residual error of the satellite antenna pointing angle at the current moment is in a preset standard residual error range or not;
and if the residual error of the pointing angle of the satellite antenna at the current time is not in the preset standard residual error range, determining the six orbit correction values of the satellite to be tracked at the next time according to the six orbit correction values of the satellite to be tracked at the current time and the six orbit correction values of the satellite to be tracked at the current time.
Optionally, the six-orbit correction value determining module is further configured to, after being configured to determine whether a residual error of the satellite antenna pointing angle at the current time is within a preset standard residual error range, further:
and if the residual error of the satellite antenna pointing angle at the current moment is in the preset standard residual error range, determining the six orbit correction values of the satellite to be tracked at the next moment to be 0.
In a third aspect, embodiments of the present application provide a computer device, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the computer device is running, the machine-readable instructions when executed by the processor performing the steps of the satellite orbit correction method as described in any of the alternative embodiments of the second aspect above.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the satellite orbit correction method described in any of the alternative embodiments of the second aspect described above.
The technical scheme provided by the application comprises the following beneficial effects:
in a satellite positioning stage, determining the instantaneous position and the instantaneous speed of a satellite to be positioned according to six orbits of the satellite to be positioned; positioning the satellite to be positioned according to the instantaneous position and the instantaneous speed to obtain a satellite to be tracked; by the steps, six satellites to be tracked meeting the number of the satellites to be positioned in the orbit can be positioned in the satellite positioning stage, and tracking targets can be provided for satellite tracking in the subsequent satellite tracking stage.
In the satellite tracking stage, according to the six orbit numbers of the satellite to be tracked at the current moment and the satellite antenna pointing angle when the satellite antenna points to the satellite to be tracked, determining six orbit number correction values of the satellite to be tracked at the next moment; and correcting the satellite running orbit of the satellite to be tracked at the next moment according to the six orbit correction values of the satellite to be tracked at the next moment. Through the steps, the six orbit correction values of the satellite to be tracked at the next moment can be determined according to the six orbits of the satellite to be tracked at the current moment and the pointing angle of the satellite antenna, and the satellite running orbit is corrected according to the six orbit correction values.
By adopting the method, the satellite to be tracked is positioned in the satellite positioning stage, then the six-orbit correction value is determined according to the pointing angle of the satellite antenna pointing to the satellite to be tracked and the six-orbit number of the satellite to be tracked in the satellite tracking stage, and finally the satellite running orbit is corrected according to the six-orbit correction value, so that the satellite running orbit is corrected.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a satellite orbit correction method according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram showing a satellite triangle position relationship according to a first embodiment of the present invention;
FIG. 3 is a flowchart of a method for determining correction values of six tracks according to a first embodiment of the present invention;
fig. 4 is a schematic structural diagram of a satellite orbit correction device according to a second embodiment of the present invention;
fig. 5 shows a schematic structural diagram of a computer device according to a third embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
Example 1
For the convenience of understanding the present application, the following describes the first embodiment of the present application in detail with reference to the flowchart of the first embodiment of the present invention shown in fig. 1.
Referring to fig. 1, fig. 1 shows a flowchart of a satellite orbit correction method according to a first embodiment of the present invention, wherein the method includes steps S101 to S104:
s104: in the satellite positioning stage, determining the instantaneous position and the instantaneous speed of the satellite to be positioned according to six orbits of the satellite to be positioned.
Specifically, in a satellite positioning stage in the communication-in-motion system, before determining the instantaneous position and the instantaneous speed of the satellite to be positioned according to six orbits of the satellite to be positioned, the method further comprises:
acquiring TLE (Two Line Elements) two rows of orbit numbers of a satellite to be positioned, wherein the two rows of orbit numbers refer to a way of describing the satellite orbit by two orbit elements (semi-long axis and eccentricity) and one time parameter (straight-ahead point angle); and converting the two rows of track numbers into six kepler track numbers, namely the six track numbers, by utilizing a preset track number conversion strategy.
S102: and positioning the satellite to be positioned according to the instantaneous position and the instantaneous speed to obtain a satellite to be tracked.
Specifically, through three loops of a satellite signal feedback loop, an antenna position control loop and an antenna speed control loop in the communication-in-motion system, the accurate orientation of an antenna is controlled according to the instantaneous position and the instantaneous speed, the satellite finding and locking of a satellite antenna are completed, a satellite to be tracked is determined, and then the satellite to be tracked enters an automatic tracking stage to monitor the satellite to be tracked in real time.
S103: and in the satellite tracking stage, determining six correction values of the orbit of the satellite to be tracked at the next moment according to the six orbits of the satellite to be tracked at the current moment and the pointing angle of the satellite antenna when the satellite antenna points to the satellite to be tracked.
Specifically, after entering a satellite tracking stage, the satellite orbit parameters need to be continuously corrected at regular intervals, and the correction process includes, for each current time, determining correction values of six orbits of the satellite to be tracked at a time next to the current time according to six orbits of the satellite to be tracked and a pointing angle of a satellite antenna pointing to the satellite to be tracked at the current time, where the specific method includes:
the preparation process of calculation comprises the following steps: let the initial orbit six number of the satellite to be tracked in the satellite positioning stage (initial moment) be sigma 0 (a, e, i, Ω, ω, f) six numbers σ of initial tracks 0 (a, e, i, Ω, ω, f) as the initial value to be estimated, is noted asWherein a is the semi-long axis of the track; e is the track eccentricity; omega is the near-place amplitude angle; f is the true near point angle; omega is the right ascent point; i is the inclination of the elliptical orbit. Let Y (A, h) be at the siteThe satellite pointing angle measured by the antenna in a flat coordinate system, wherein A is an azimuth angle, h is a pitch angle and V is a measurement error.
During the correction process, a large amount of data t is used j ,Y j (j=1,.. circulating iterative calculation of six orbits X of the satellite to be tracked 0 I.e. when j is k, iteration X 0 Obtaining correction valueObtaining estimated values of six orbits of the satellite to be trackedWherein-> And->The following relation is satisfied:
wherein t is j At the j-th moment, Y j The satellite pointing angle at the j-th moment is k being a non-zero natural number, X 0 For six orbits of the satellite to be tracked,is X 0 Correction value of>The method comprises the steps of obtaining an estimated value of six orbits of a satellite to be tracked; observed quantity Y according to the pointing angle of Y (A, h) satellite O And theoretical calculation value Y C And determining a residual error y.
The residual y is determined by the following relation:
wherein V is a measurement error; x is X 0 The method comprises the steps of measuring six orbits of a satellite to be tracked in a satellite positioning stage;for to-be-estimated X 0 Is to be evaluated.
Step 1: when t j At time (j=0), the six-track number reference value σ is generated by the track root conversion using the two-row track number 0 (a, e, i, Ω, ω, M) and setting the track correction value thereof
Step 2: performing loop iteration calculation:
step 2.1: when t j (j＝k,k>0) At the time, t is acquired j-1 Time of day relative to X 0 Is a correction value x of (2) k-1 And t j-1 Reference value of time of dayTheoretical calculation of Y C . The following is the calculation theory Y C The process is that with respect to the earth satellite orbit, the origin of the coordinate system is the earth centroid, the coordinate system is selected from the J2000.0 geocentric celestial coordinate system, and a differential equation of the motion of the satellite to be tracked is determined:
wherein,for the instantaneous position of the satellite to be positioned, +.>For the instantaneous acceleration of the satellite to be tracked, +.>For gravitational acceleration, reference is made to earth satellite, other quantities +.>The third body attraction, celestial body non-spherical attraction, solar radiation pressure, atmospheric resistance and attitude and orbit control thrust are all extremely small, and the method can be omitted; g is a universal gravitation constant, M is the mass of the earth, M is the mass of the satellite to be tracked, r is the distance between the earth and the satellite to be tracked, and t is recorded 0 For the initial moment, the instantaneous position of the satellite to be positioned +.>Simplified to->Instantaneous speed of the satellite to be localized +.>Simplified to->Its gravitational acceleration versus satellite position>Speed partial derivative->The method comprises the following steps:
wherein I is 3×3 For a (3 x 3) order unit diagonal array, x is a first element in the unit diagonal array, y is a second element in the unit diagonal array, and z is a third element in the unit diagonal array.
Recording deviceNumerical solution was performed by a fourth order RK (Rungge-Kutta) method:
wherein k is 1 Representing the first order, k 2 Representing the second order, k 3 Representing the third order, k 4 Represents the fourth order, h 1 For the step size of the equal interval,for the initial moment t of the satellite to be positioned 0 Is +.>t n Represents the nth time, n is a natural number, r n At t n A lower instantaneous position.
Because the above-mentioned coordinate system is the geocentric celestial coordinate system, the communication-in-motion antenna system measures and samples the azimuth and altitude angle (a, h) of the data for the satellite on the basis of the epoch being (J2000) and the geocentric celestial system O-xyz, in the selected coordinate system, as shown in fig. 2, fig. 2 shows a schematic diagram of a satellite triangle position relationship provided in the first embodiment of the present invention, wherein the triangle position relationship includes a tracking antenna end a, a satellite S to be tracked and an end point of the geocentric O being triangle,for the observation vector from the antenna end to the satellite, ρ is the ranging amount, i.e. the distance from the tracking antenna end to the satellite to be tracked, r is the distance between the earth (here the earth is taken as the particle, i.e. earth center) and the satellite to be tracked, r e For the scalar distance from earth center to antenna end, the observation vector corresponding to the earth center celestial sphere O-xyz middle pointing angle (A, h) is:
for its observation vector +.>The corresponding unit vector is converted into a theoretical calculation value of a station center horizon coordinate system after coordinate transformation>The transformation matrix for its coordinate transformation is as follows:
wherein GR is a time difference and nutation matrix; ZR is the conversion matrix of the geocentric celestial system and the station centric horizon coordinate system,for the vector distance of the earth's center to the satellite to be tracked, < >>Is the vector distance from the earth center to the antenna end, S G Lambda when the sun is treated by Greennel G And->Longitude and latitude of the communication-in-motion system, R z (pi-S) means rotation of pi-S angle around celestial system z axis, ++>Indicating a rotation about the y-axis of the celestial system>The angle, S, is a preset angle value.
Step 2.3: acquisition of satellite pointing angle measurement Y by tracking antenna 0 ；
The communication-in-motion system calculates the satellite pointing angle Y C The value is combined with the current gesture, speed, inertial navigation information and the like of the antenna, a satellite signal feedback loop, a speed loop and a position loop are used, and t is measured and obtained k Satellite pointing angle Y of time antenna 0 。
Step 2.4: judging whether y is in a controllable range according to the residual y calculated in the preparation process, and if y is in the controllable range, correctingContinuation->Value, wait t j+1 Arriving at the moment; if not in the controllable range, a correction amount is obtained>Calculating t j State estimation value +.>And calculate t j Theoretical calculation of time Y C (j=k) as iteration t j Satellite orbit correction value +_at (j=k) time>Is input to the computer.
Step 2.5: iterative communication-in-motion systems use generalized Kalman filtering methods to establish initial estimates of state vectors from initial parametersThen weighting each new observation data and combining the previous estimated value to calculate the correction value of the state under the new observation state +.>And (3) a process. The communication-in-motion system is according to t k-1 State quantity +.>Variance matrix P k-1 Correction amount->To calculate t k Estimated state quantity +.>Sum of variances matrix->Namely:
wherein the symbol Φ (t k ,t k-1 ) For time t k-1 By time t k State transition matrix of phi T (t k ,t k-1 ) Is phi (t) k ,t k-1 ) Is used to determine the transposed matrix of (a),respectively t k And calculating a state vector and a correction amount at the moment.
Read t k Time observation quantity Y k And calculate the partial derivative thereofThereby updating the gain matrix K K ：
Is W K Transpose of W K At t k The weighting matrix of the moment, if equal weight processing, is the identity matrix,/for each moment>Is thatIs then updated to calculate the variance P K :
Wherein I is an identity matrix, and track correction value is calculated
Wherein y is k At t k Time observation quantity Y k Is a residual of (c).
S104: and correcting the satellite running orbit of the satellite to be tracked at the next moment according to the six orbit correction values of the satellite to be tracked at the next moment.
Specifically, after six orbit correction values of the satellite to be tracked at each next moment are obtained, the satellite orbit of the satellite to be tracked at each next moment is corrected according to the six orbit correction values of the satellite to be tracked at each next moment.
In one possible embodiment, the six orbits include orbit semi-major axis, orbit eccentricity, elliptical orbit inclination, ascending intersection right ascent, near-site argument and true near-site argument.
The determining the instantaneous position and the instantaneous speed of the satellite to be positioned according to the six orbit numbers of the satellite to be positioned comprises the following steps:
determining the instantaneous position of the satellite to be positioned according to the following expressionAnd the instantaneous speed of the satellite to be localized +.>
Wherein,
a is the semi-long axis of the track; e is the track eccentricity; omega is the near-place amplitude angle; f is the true near point angle; omega is the right ascent point; i is the inclination of the elliptical orbit.
In a possible implementation manner, referring to fig. 3, fig. 3 shows a flowchart of a method for determining an orbital six correction value provided in an embodiment of the invention, wherein the determining, according to the orbital six of the satellite to be tracked at the current time and a satellite antenna pointing angle when the satellite antenna points to the satellite to be tracked, the orbital six correction value of the satellite to be tracked at the next time includes steps S301 to S303:
s301: and determining the residual error of the satellite antenna pointing angle at the current moment according to the observed value and the theoretical calculated value of the satellite antenna pointing angle when the satellite antenna points at the satellite to be tracked at the current moment.
Specifically, the residual error is used for describing the deviation between the observed value and the theoretical calculated value of the satellite antenna pointing angle when the satellite antenna points to the satellite to be tracked, and the larger the deviation is, the larger the deviation between the satellite running track and the expected running track is, and the orbit correction is required.
S302: and judging whether the residual error of the satellite antenna pointing angle at the current moment is in a preset standard residual error range or not.
S303: and if the residual error of the pointing angle of the satellite antenna at the current time is not in the preset standard residual error range, determining the six orbit correction values of the satellite to be tracked at the next time according to the six orbit correction values of the satellite to be tracked at the current time and the six orbit correction values of the satellite to be tracked at the current time.
Specifically, if the residual error of the pointing angle of the satellite antenna at the current time is not in the preset standard residual error range, and it is indicated that the orbit correction is required, determining the orbit six correction value of the satellite to be tracked at the next time according to the orbit six of the satellite to be tracked at the current time and the orbit six correction value of the satellite to be tracked at the current time.
In a possible implementation manner, after judging whether the residual error of the satellite antenna pointing angle at the current moment is within a preset standard residual error range, the method further comprises the following steps;
and if the residual error of the satellite antenna pointing angle at the current moment is in the preset standard residual error range, determining the six orbit correction values of the satellite to be tracked at the next moment to be 0.
Specifically, if the residual error of the satellite antenna pointing angle at the current time is within the preset standard residual error range, it is indicated that the orbit correction is not required.
Example two
Referring to fig. 4, fig. 4 is a schematic structural diagram of a satellite orbit correction device according to a second embodiment of the present invention, where the device includes:
the instantaneous position and speed determining module 401 is configured to determine, in a satellite positioning stage, an instantaneous position and an instantaneous speed of a satellite to be positioned according to six orbits of the satellite to be positioned;
the satellite positioning module to be tracked 402 is configured to position the satellite to be positioned according to the instantaneous position and the instantaneous speed to obtain a satellite to be tracked;
the orbit six correction value determining module 403 is configured to determine, in a satellite tracking stage, an orbit six correction value of the satellite to be tracked at a next moment according to the orbit six of the satellite to be tracked at the current moment and a satellite antenna pointing angle when the satellite antenna points to the satellite to be tracked;
the satellite orbit correction module 404 is configured to correct the satellite orbit of the satellite to be tracked at the next moment according to the six orbit correction values of the satellite to be tracked at the next moment.
In a possible embodiment, the six orbits include orbit semi-major axis, orbit eccentricity, elliptical orbit inclination, ascending intersection right ascent, near-site argument and true near-site argument;
the instantaneous position and speed determining module is used for determining the instantaneous position and the instantaneous speed of the satellite to be positioned according to six orbits of the satellite to be positioned in a satellite positioning stage, and is specifically used for:
determining the instantaneous position of the satellite to be positioned according to the following expressionAnd the instantaneous speed of the satellite to be localized +.>
Wherein,
a is the semi-long axis of the track; e is the track eccentricity; omega is the near-place amplitude angle; f is the true near point angle; omega is the right ascent point; i is the inclination of the elliptical orbit.
In a possible implementation manner, the six-orbit correction value determining module is configured to, in a satellite tracking stage, determine, according to the six orbits of the satellite to be tracked and a satellite antenna pointing angle when the satellite antenna points to the satellite to be tracked at a current moment, six-orbit correction values of the satellite to be tracked at a next moment, when:
determining a residual error of the satellite antenna pointing angle at the current moment according to an observed value and a theoretical calculated value of the satellite antenna pointing angle when the satellite antenna points at the satellite to be tracked at the current moment;
judging whether the residual error of the satellite antenna pointing angle at the current moment is in a preset standard residual error range or not;
and if the residual error of the pointing angle of the satellite antenna at the current time is not in the preset standard residual error range, determining the six orbit correction values of the satellite to be tracked at the next time according to the six orbit correction values of the satellite to be tracked at the current time and the six orbit correction values of the satellite to be tracked at the current time.
In a possible implementation manner, the orbit six-root-number correction value determining module is further configured to, after being configured to determine whether the residual error of the satellite antenna pointing angle at the current time is within a preset standard residual error range:
and if the residual error of the satellite antenna pointing angle at the current moment is in the preset standard residual error range, determining the six orbit correction values of the satellite to be tracked at the next moment to be 0.
Example III
Based on the same application concept, referring to fig. 5, fig. 5 shows a schematic structural diagram of a computer device provided in a third embodiment of the present invention, where, as shown in fig. 5, a computer device 500 provided in the third embodiment of the present invention includes:
the system comprises a processor 501, a memory 502 and a bus 503, wherein the memory 502 stores machine-readable instructions executable by the processor 501, and when the computer device 500 is running, the processor 501 and the memory 502 communicate through the bus 503, and the machine-readable instructions are executed by the processor 501 to perform the steps of the satellite orbit correction method described in the second embodiment.
Example IV
Based on the same application concept, the embodiment of the present invention further provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, performs the steps of the satellite orbit correction method according to any one of the above embodiments.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
The computer program product for performing satellite orbit correction provided by the embodiment of the invention comprises a computer readable storage medium storing program codes, wherein the instructions included in the program codes can be used for executing the method described in the foregoing method embodiment, and specific implementation can be referred to the method embodiment and will not be repeated here.
The satellite orbit correction device provided by the embodiment of the invention can be specific hardware on equipment or software or firmware installed on the equipment. The device provided by the embodiment of the present invention has the same implementation principle and technical effects as those of the foregoing method embodiment, and for the sake of brevity, reference may be made to the corresponding content in the foregoing method embodiment where the device embodiment is not mentioned. It will be clear to those skilled in the art that, for convenience and brevity, the specific operation of the system, apparatus and unit described above may refer to the corresponding process in the above method embodiment, which is not described in detail herein.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments provided in the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that: like reference numerals and letters in the following figures denote like items, and thus once an item is defined in one figure, no further definition or explanation of it is required in the following figures, and furthermore, the terms "first," "second," "third," etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the corresponding technical solutions. Are intended to be encompassed within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (6)

1. A method for satellite orbit correction, the method comprising:
in a satellite positioning stage, determining the instantaneous position and the instantaneous speed of a satellite to be positioned according to six orbits of the satellite to be positioned;
positioning the satellite to be positioned according to the instantaneous position and the instantaneous speed to obtain a satellite to be tracked;
in the satellite tracking stage, according to the six orbit numbers of the satellite to be tracked at the current moment and the satellite antenna pointing angle when the satellite antenna points to the satellite to be tracked, determining six orbit number correction values of the satellite to be tracked at the next moment;
correcting the satellite running orbit of the satellite to be tracked at the next moment according to the six orbit correction values of the satellite to be tracked at the next moment;
determining the correction value of the six orbits of the satellite to be tracked at the next moment according to the six orbits of the satellite to be tracked at the current moment and the pointing angle of the satellite antenna when the satellite antenna points to the satellite to be tracked, including:
determining a residual error of the satellite antenna pointing angle at the current moment according to an observed value and a theoretical calculated value of the satellite antenna pointing angle when the satellite antenna points at the satellite to be tracked at the current moment;
judging whether the residual error of the satellite antenna pointing angle at the current moment is in a preset standard residual error range or not;
if the residual error of the pointing angle of the satellite antenna at the current time is not in the preset standard residual error range, determining six orbit correction values of the satellite to be tracked at the next time according to six orbit correction values of the satellite to be tracked at the current time and six orbit correction values of the satellite to be tracked at the current time;
and if the residual error of the satellite antenna pointing angle at the current moment is in the preset standard residual error range, determining the six orbit correction values of the satellite to be tracked at the next moment to be 0.
2. The method of claim 1, wherein the six orbits include orbit semi-major axis, orbit eccentricity, elliptical orbit tilt, ascent intersection, descent, near-site argument and true near-site argument;
the determining the instantaneous position and the instantaneous speed of the satellite to be positioned according to the six orbit numbers of the satellite to be positioned comprises the following steps:
determining the instantaneous position of the satellite to be positioned according to the following expressionAnd the instantaneous speed of the satellite to be localized +.>
Wherein,
a is the semi-long axis of the track; e is the track eccentricity; omega is the near-place amplitude angle; f is the true near point angle; omega is the right ascent point; i is the inclination of the elliptical orbit.
3. A satellite orbit correction device, said device comprising:
the instantaneous position and speed determining module is used for determining the instantaneous position and the instantaneous speed of the satellite to be positioned according to six orbits of the satellite to be positioned in the satellite positioning stage;
the satellite positioning module to be tracked is used for positioning the satellite to be positioned according to the instantaneous position and the instantaneous speed to obtain a satellite to be tracked;
the orbit six correction value determining module is used for determining the orbit six correction values of the satellite to be tracked at the next moment according to the orbit six of the satellite to be tracked at the current moment and the satellite antenna pointing angle when the satellite antenna points to the satellite to be tracked at the current moment;
the satellite running orbit correction module is used for correcting the satellite running orbit of the satellite to be tracked at the next moment according to the six orbit correction values of the satellite to be tracked at the next moment;
the six-orbit correction value determining module is used for determining six-orbit correction values of the satellite to be tracked at the next moment according to six orbits of the satellite to be tracked at the current moment and a satellite antenna pointing angle when the satellite antenna points to the satellite to be tracked in a satellite tracking stage, and is specifically used for:
determining a residual error of the satellite antenna pointing angle at the current moment according to an observed value and a theoretical calculated value of the satellite antenna pointing angle when the satellite antenna points at the satellite to be tracked at the current moment;
judging whether the residual error of the satellite antenna pointing angle at the current moment is in a preset standard residual error range or not;
if the residual error of the pointing angle of the satellite antenna at the current time is not in the preset standard residual error range, determining six orbit correction values of the satellite to be tracked at the next time according to six orbit correction values of the satellite to be tracked at the current time and six orbit correction values of the satellite to be tracked at the current time;
and if the residual error of the satellite antenna pointing angle at the current moment is in the preset standard residual error range, determining the six orbit correction values of the satellite to be tracked at the next moment to be 0.
4. The apparatus of claim 3, wherein the six orbits include orbit semi-major axis, orbit eccentricity, elliptical orbit tilt, ascent intersection, descent, near-site argument and true near-site argument;
the instantaneous position and speed determining module is used for determining the instantaneous position and the instantaneous speed of the satellite to be positioned according to six orbits of the satellite to be positioned in a satellite positioning stage, and is specifically used for:
determining the instantaneous position of the satellite to be positioned according to the following expressionAnd the instantaneous speed of the satellite to be localized +.>
Wherein,
a is the semi-long axis of the track; e is the track eccentricity; omega is the near-place amplitude angle; f is the true near point angle; omega is the right ascent point; i is the inclination of the elliptical orbit.
5. A computer device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication via the bus when the computer device is running, the machine-readable instructions when executed by the processor performing the steps of the satellite orbit correction method according to any one of claims 1 to 2.
6. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the satellite orbit correction method according to any one of claims 1 to 2.
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