CN117805806A - Method and system for measuring distance and speed of invisible target spacecraft of earth measurement and control station - Google Patents
Method and system for measuring distance and speed of invisible target spacecraft of earth measurement and control station Download PDFInfo
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Abstract
The invention relates to a method and a system for measuring and speed-measuring invisible target spacecrafts of an earth measurement and control station, which combines four-way measurement and two-way measurement to provide a method for realizing measurement of the invisible target spacecrafts, and solves the problems that the invisible target spacecrafts of a ground station cannot be directly communicated with the ground station, cannot be directly measured and measured in two-way, and cannot be positioned and tracked in real time.
Description
Technical Field
The invention relates to the technical field of relay satellite system measurement and control, in particular to a method and a system for measuring distance and speed of a target spacecraft invisible to an earth measurement and control station.
Background
Due to recent developments in deep space exploration techniques, a target spacecraft may land in a location that is permanently invisible to the ground station, or may not be able to communicate stably and effectively due to factors of the orbit of the target spacecraft being invisible to the ground station for some period of time, or the target spacecraft being visible to the ground station but being low in elevation angle and poor in visibility condition. The target spacecraft needs to know the real-time position or orbit of the target spacecraft, so that a measurement system capable of positioning and orbit determination of the target spacecraft needs to be developed.
The four-way measurement is that radio frequency signals are sent out from a ground station, a relay satellite is received and then is transmitted to a target spacecraft, the target spacecraft is transmitted back to the relay satellite, the relay satellite is transmitted back to an earth measurement and control station, the measurement signals are subjected to three times of transmission and four times of space transmission, and finally, the earth measurement and control station performs closed-loop signal processing.
The two-way measurement is that radio frequency signals are sent out from a ground station, relay satellites are received and then are transmitted back to an earth measurement and control station, the measured signals are subjected to one-time transmission and two-time space transmission, and finally the earth measurement and control station performs closed-loop signal processing.
The uplink is a link for transmitting signals to the relay satellite by the earth measurement and control station;
the downlink is a link for transmitting signals from the relay satellite to the earth measurement and control station;
the forward link is a link for transmitting signals from the relay satellite to the target spacecraft;
the reverse link is a link in which a target spacecraft transmits signals to a relay.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a four-way measurement method and a system for measuring distance and speed of a target spacecraft invisible to a ground station by using a relay satellite, solves the problem of the requirement of positioning and orbit determination of the target spacecraft invisible to the ground station, and can be used for configuring the four-way measurement system on the relay satellite to realize the transmission of measurement signals between the ground station and the target spacecraft, so that the distance and the speed of the target spacecraft can be measured.
In order to achieve the above object of the present invention, in a first aspect, a first embodiment of the present invention provides a method for measuring a distance and a speed of a target spacecraft invisible to an earth measurement and control station, including:
s1, continuously performing double-pass measurement between an earth measurement and control station and a relay satellite, and obtaining the distance and speed information of a double-pass link in real time;
s2, continuously performing four-path measurement between the earth measurement and control station and the target spacecraft through a relay satellite, and obtaining the distance and speed information of the four-path link in real time;
and S3, subtracting the double-pass link information in the S1 at the same moment according to the four-pass link information in the S2, obtaining the distance and speed information between the target spacecraft and the relay satellite at any moment, and determining the on-orbit measurement information of the target spacecraft at the moment by combining the on-orbit measurement information of the relay satellite.
Further, the step S1 includes:
the earth measurement and control station transmits uplink measurement and control signals to the relay satellite, PM demodulation is carried out on the uplink measurement and control signals to obtain measurement information after the relay satellite receives the uplink measurement and control signals, PM modulation is carried out on the measurement information by adopting a carrier wave coherent mode, the obtained downlink measurement and control signals are transmitted to the earth measurement and control station, and after the earth measurement and control station receives the downlink measurement and control signals, measurement and calculation is carried out on the downlink measurement and control signals and the corresponding uplink measurement and control signals to obtain the distance and speed information of a two-way link between the earth measurement and control station and the relay satellite.
Further, in the step S1, after receiving the downlink measurement and control signal sent by the relay satellite, the earth measurement and control station performs coherent comparison calculation with the corresponding uplink measurement and control signal to obtain a radio frequency doppler analysis result, and performs phase comparison calculation on the demodulated downlink ranging sound and uplink ranging sound, thereby obtaining the distance and speed information of the two-way link between the earth measurement and control station and the relay satellite.
Further, the step S2 includes:
the earth measurement and control station transmits an uplink measurement and control signal to the relay satellite, PM modulates the uplink measurement and control signal to obtain measurement information after the relay satellite receives the measurement information, PM modulates the measurement information by adopting a carrier coherent mode, PM modulates the uplink measurement and control signal to the receiving frequency of the target spacecraft, the reception frequency is transmitted to the target spacecraft, the target spacecraft receives the coherent forwarding of the reception signal, the relay satellite receives a return link signal which is coherently forwarded by the target spacecraft, PM demodulates the return link signal to obtain measurement information, PM modulates the measurement information by adopting the carrier coherent mode, PM modulates the return link signal to a downlink measurement and control signal, the obtained downlink measurement and control signal is transmitted to the earth measurement and control station, and the earth measurement and control station receives the downlink measurement and control signal and the corresponding uplink measurement and control signal to calculate the distance and speed information of four-way links of the earth measurement and control station, the relay satellite and the target spacecraft.
Further, in the step S2, the earth measurement and control station receives the downlink measurement and control signal, determines that the characteristic of the ranging signal matches with the downlink measurement and control signal, and then completes the capturing of four-path distance, the earth measurement and control station outputs four-path carrier doppler information and calculates four-path speed information according to carrier phase parameters, and simultaneously calculates four-path distance information according to the transmitted and received ranging tone phase shift information, and continuously performs four-path measurement according to the process.
Further, in the step S2, the coherent forwarding ratio of the four-path uplink and the four-path forward link is a ratio of an uplink carrier frequency to a forward carrier frequency, where the forward carrier frequency is a receiving frequency value of the target spacecraft; the coherent forwarding ratio of the four-way downlink link and the four-way backward link is the ratio of the downlink carrier frequency to the backward carrier frequency, wherein the backward carrier frequency is the radio frequency value of the target spacecraft.
Further, in the step S2, the four-way measurement adopts a sidetone ranging mode, the ranging bandwidth is larger than the range of the double-sideband ranging main tone frequency, the ranging passband is fast in attenuation speed outside the double-sideband ranging main tone frequency, the ranging forwarding modulation degree is in a predetermined range, and the ranging link budget margin of the four-way measurement is larger than 3dB.
Further, the frequency of the uplink measurement and control signal sent by the earth measurement and control station in the S1 to the relay satellite is different from the frequency of the uplink measurement and control signal sent by the earth measurement and control station in the S2 to the relay satellite.
In a second aspect, a second embodiment of the present invention provides a system for ranging and measuring a distance and a speed of a target spacecraft invisible to an earth measurement and control station, including a four-way measurement device and a two-way measurement device disposed on a relay satellite.
Further, the four-way measuring equipment comprises four-way uplink receiving antennas, four-way forward transmitting antennas, four-way backward receiving antennas and four-way downlink transmitting antennas; the double-pass measuring equipment comprises a double-pass uplink receiving antenna and a double-pass downlink transmitting antenna.
Compared with the prior art, the invention has the advantages that:
(1) In the prior art, a target spacecraft which is visible to a ground station is subjected to distance measurement and speed measurement through double-pass measurement communication, and a spacecraft which is invisible to the ground station cannot be subjected to distance measurement and speed measurement.
(2) The method has the advantages that the realization of the distance measurement and the speed measurement of the target spacecraft is realized by combining the four-way measurement and the two-way measurement, the relay satellite is matched with the four-way measurement result of the target spacecraft, and the ground station combines the distance measurement and the speed measurement data obtained by the two-way measurement of the relay satellite with the four-way measurement result of the target spacecraft, so that the final result is calculated, and the result is more accurate and reliable.
(3) The transmission of each path of measurement signals is realized by performing PM demodulation on radio frequency signals through a phase-locked tracking system and then modulating, and the received and transmitted carrier frequencies are coherently transmitted, so that the Doppler data in each path of measurement links is guaranteed to be calculated in a traceable way.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a system for measuring distance and speed of a target spacecraft invisible to an earth measurement and control station according to an embodiment of the invention;
fig. 2 is a flow chart of a method for measuring distance and speed of a target spacecraft invisible to an earth measurement and control station according to an embodiment of the invention.
Detailed Description
The description of the embodiments of this specification should be taken in conjunction with the accompanying drawings, which are a complete description of the embodiments. In the drawings, the shape or thickness of the embodiments may be enlarged and indicated simply or conveniently. Furthermore, portions of the structures in the drawings will be described in terms of separate descriptions, and it should be noted that elements not shown or described in the drawings are in a form known to those of ordinary skill in the art.
Any references to directions and orientations in the description of the embodiments herein are for convenience only and should not be construed as limiting the scope of the invention in any way. The following description of the preferred embodiments will refer to combinations of features, which may be present alone or in combination, and the invention is not particularly limited to the preferred embodiments. The scope of the invention is defined by the claims.
As shown in FIG. 1, the system for measuring the distance and the speed of the invisible target spacecraft of the earth measurement and control station in the embodiment of the invention comprises four-way measurement equipment and two-way measurement equipment which are arranged on a relay satellite. The four-way measuring equipment comprises a four-way measuring transponder, four-way uplink receiving antennas, four-way forward transmitting antennas, four-way backward receiving antennas and four-way downlink transmitting antennas. The double-pass measuring equipment comprises a double-pass measuring transponder, a double-pass uplink receiving antenna and a double-pass downlink transmitting antenna. Compared with the traditional spacecraft measurement system, the four-way measurement system of the embodiment is provided with four-way measurement equipment and two-way measurement equipment only by means of direct measurement of an upper and a lower two-way measurement and control links under the condition of being visible on the ground, and the four-way measurement equipment can perform four-way measurement of signals from uplink to forward to return to downlink.
As shown in fig. 2, an implementation method based on the above system according to an embodiment of the present invention is shown in the following application background: the earth measurement and control station is distributed in a certain satellite visible area on the earth surface according to the flight space and measurement and control requirements of satellites, and has the tasks of tracking measurement, telemetry, remote control, communication and the like for the spacecraft; the target spacecraft is invisible to the ground station for a certain period of time or all the time due to the position factors of the running orbit or landing points; in the relay satellite flight process, an orbit section which is visible to both a ground station and a target spacecraft is selected, and the ground station respectively transmits uplink measurement information to four-way measurement equipment and two-way measurement equipment through radio frequency signals with different frequencies. The method specifically comprises the following steps:
s1, continuously performing double-pass measurement between the earth measurement and control station and the relay satellite, and obtaining the distance and speed information of a double-pass link in real time.
Specifically, in the process of the relay satellite flying, an orbit section which is visible simultaneously with the earth measurement and control station and the target spacecraft is selected, and the earth measurement and control station passes through f to the relay satellite 1 The uplink frequency scans the frequency of the relay satellite. After the two-way uplink receiver on the relay satellite captures the uplink signal, a coherent forwarding mode is adopted, and the two-way downlink transmitter is used for scanning along with the uplink signal and forwarding the uplink signal to the earth measurement and control station. And after the earth measurement and control station captures the two-way downlink signal, the satellite-ground bidirectional carrier wave is captured. After the bidirectional carrier wave capturing is completed, the earth measurement and control station modulates the ranging sound at f 1 The uplink carrier wave is sent to the relay satellite, the two-way measurement transponder of the relay satellite demodulates the signal, the forwarded downlink ranging signal is modulated on a coherent downlink carrier wave signal and is sent to the earth measurement and control station, and the earth measurement and control station receives the downlink signal and judges that the characteristics of the ranging signal are matched with the downlink signal to finish the distance capturing. The earth measurement and control station can output carrier Doppler information and calculate two-way speed information according to the uplink and downlink carrier phase parameters, and simultaneouslyAnd calculating double-pass distance information according to the transmitted and received distance measurement tone phase shift information, and continuously carrying out double-pass measurement according to the process.
S2, continuously performing four-path measurement between the earth measurement and control station and the target spacecraft through a relay satellite, and obtaining the distance and speed information of the four-path link in real time.
Specifically, the earth measurement and control station passes f 2 The uplink frequency scans the frequency of the relay satellite, and after the four-path uplink receiver on the relay satellite captures the uplink signal, the four-path forward transmitter follows the uplink signal to scan and forward the uplink signal to the target spacecraft according to the coherent forwarding ratio of the uplink and the forward link. The target spacecraft receives and locks the forward scanned carrier signal, scans the carrier signal by its own coherent forwarding ratio, and transmits the carrier signal to the relay satellite through the return link. And after receiving and locking the scanned backward carrier signal, the relay satellite transmits the backward carrier signal to the earth measurement and control station according to the coherent forwarding ratio of the backward link and the downlink link. The earth measurement and control station receives the four-path downlink carrier signals and then performs signal characteristic matching, and the four-path downlink signals with stable matching completion and continuous receiving are marked to complete carrier capture of the target spacecraft through the relay satellite. After four-path carrier wave capturing is completed, the earth measurement and control station modulates the ranging tone at f 2 And the uplink carrier wave is transmitted to a relay satellite, a four-way measurement transponder of the relay satellite demodulates the uplink signal, and the forward ranging signal is modulated on a coherent forward carrier wave signal and transmitted to a target spacecraft. The target spacecraft receives the forward radio frequency signal sent by the relay satellite, demodulates the radio frequency signal through the own transponder, and modulates the forwarded backward ranging signal on the backward carrier signal to send to the relay satellite. The four-way measuring transponder of the relay satellite demodulates the return signal and transmits the forwarded downlink ranging signal to the earth measurement and control station. After receiving the downlink signal, the earth measurement and control station judges that the characteristics of the ranging signal are matched with the downlink signal, and then the four-path distance is captured. The earth measurement and control station can output four-path carrier Doppler information and calculate four-path speed information according to carrier phase correlation, and calculate four-path distance information according to the transmitted and received ranging tone phase shift informationThe process continues with four-pass measurements.
And S3, subtracting the double-pass link information obtained in the S1 at the same moment according to the four-pass link information obtained in the S2, so as to obtain the distance and speed information between the target spacecraft and the relay satellite at any moment, and determining the on-orbit measurement information of the target spacecraft at any moment by combining the on-orbit measurement information of the relay satellite.
Specifically, according to steps S1 and S2, four-way measurement information of the earth measurement and control station and the target spacecraft and two-way measurement information of the relay satellite and the earth measurement and control station can be continuously obtained. The four-way measurement information deducts the two-way measurement information of the relay satellite and the earth measurement and control station to obtain the two-way measurement information of the relay satellite and the target spacecraft, and the position and speed information of the target spacecraft can be finally obtained by combining the orbit measurement information of the relay satellite. Therefore, even if the target spacecraft is in an invisible area of the earth measurement and control station in a certain time period, the on-orbit measurement information of the target spacecraft can be obtained through calculation by combining the double-way measurement information with the own orbit measurement information of the relay satellite.
In this embodiment, the four-path measurement transponder adopts a coherent forwarding mode, and the carrier and doppler frequencies of each path are implemented according to a coherent forwarding ratio: (1) The coherent forwarding ratio of the four-way uplink and the four-way forward link is the ratio of the uplink carrier frequency to the forward carrier frequency, wherein the forward carrier frequency is the receiving frequency value of the target spacecraft; (2) The coherent forwarding ratio of the four-way backward link and the four-way downlink is the ratio of the backward carrier frequency to the downlink carrier frequency, wherein the backward carrier frequency is the radio frequency value of the target spacecraft.
In this embodiment, the four-range measurement transponder adopts a sidetone ranging mode, the ranging bandwidth of the transponder should be greater than the frequency range of the double-sideband ranging main tone, and meanwhile, in order to ensure the signal-to-noise ratio index of the forwarded measurement signal, the ranging passband should be attenuated rapidly outside the double-sideband ranging main tone frequency; the range-finding forwarding modulation degree of the transponder is in a selected range, and the range-finding link budget margin of four-range measurement is ensured to be more than 3dB.
In this embodiment, the target spacecraft needs to use coherent radio frequency forwarding of a unified carrier system to ensure that uplink measurement and control signal carrier information sent by the earth measurement and control station and finally received downlink measurement and control signal carrier information have doppler correlation performance after four-pass measurement links and three-time coherent forwarding, otherwise, calculation of speed measurement information of the target spacecraft cannot be performed.
In this embodiment, in order to meet the link margin of the four-way measurement, the transmitting power of the four-way measurement transponder needs to meet the corresponding index requirement, and in order to ensure the signal-to-noise ratio requirement of the received signal, the noise coefficient of the four-way measurement transponder receiver also needs to meet the corresponding index requirement.
In this embodiment, in order to ensure that the visible measurement time is long enough for the relay satellite, the ground station and the target spacecraft, and under the condition of ensuring the link margin, the uplink receiving antenna needs to be measured and controlled, the forward transmitting antenna, the backward receiving antenna and the downlink transmitting antenna ensure certain field requirements, and an omni-directional antenna or a directional antenna with a tracking function and a wider pointing range can be adopted.
In this embodiment, the four-way measurement link may have an accumulated effect on noise, so that the signal-to-noise ratio of the final downlink measurement and control signal is reduced, in order to ensure that the measurement link has enough margin, an appropriate uplink ranging tone system needs to be selected, and the retransmission modulation system of the four-way measurement transponder on the ranging tone needs to meet a certain index requirement.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (10)
1. A method of ranging and measuring speed for a target spacecraft invisible to an earth measurement and control station, the method comprising:
s1, continuously performing double-pass measurement between an earth measurement and control station and a relay satellite, and obtaining the distance and speed information of a double-pass link in real time;
s2, continuously performing four-path measurement between the earth measurement and control station and the target spacecraft through a relay satellite, and obtaining the distance and speed information of the four-path link in real time;
and S3, subtracting the double-pass link information in the S1 at the same moment according to the four-pass link information in the S2, obtaining the distance and speed information between the target spacecraft and the relay satellite at any moment, and determining the on-orbit measurement information of the target spacecraft at the moment by combining the on-orbit measurement information of the relay satellite.
2. The method for ranging and measuring the distance and the speed of the invisible target spacecraft of the earth measurement and control station according to claim 1, wherein S1 comprises:
the earth measurement and control station transmits uplink measurement and control signals to the relay satellite, PM demodulation is carried out on the uplink measurement and control signals to obtain measurement information after the relay satellite receives the uplink measurement and control signals, PM modulation is carried out on the measurement information by adopting a carrier wave coherent mode, the obtained downlink measurement and control signals are transmitted to the earth measurement and control station, and after the earth measurement and control station receives the downlink measurement and control signals, measurement and calculation is carried out on the downlink measurement and control signals and the corresponding uplink measurement and control signals to obtain the distance and speed information of a two-way link between the earth measurement and control station and the relay satellite.
3. The method for ranging and speed measuring an invisible target spacecraft of an earth measurement and control station according to claim 2, wherein in S1, after receiving a downlink measurement and control signal sent by a relay satellite, the earth measurement and control station performs coherent comparison calculation with a corresponding uplink measurement and control signal to obtain a radio frequency doppler analysis result, and performs phase comparison calculation on a demodulated downlink ranging sound and an uplink ranging sound to obtain the distance and speed information of a two-way link of the earth measurement and control station and the relay satellite.
4. The method for ranging and measuring the distance and the speed of the invisible target spacecraft of the earth measurement and control station according to claim 1, wherein the S2 comprises:
the earth measurement and control station transmits an uplink measurement and control signal to the relay satellite, PM modulates the uplink measurement and control signal to obtain measurement information after the relay satellite receives the measurement information, PM modulates the measurement information by adopting a carrier coherent mode, PM modulates the uplink measurement and control signal to the receiving frequency of the target spacecraft, the reception frequency is transmitted to the target spacecraft, the target spacecraft receives the coherent forwarding of the reception signal, the relay satellite receives a return link signal which is coherently forwarded by the target spacecraft, PM demodulates the return link signal to obtain measurement information, PM modulates the measurement information by adopting the carrier coherent mode, PM modulates the return link signal to a downlink measurement and control signal, the obtained downlink measurement and control signal is transmitted to the earth measurement and control station, and the earth measurement and control station receives the downlink measurement and control signal and the corresponding uplink measurement and control signal to calculate the distance and speed information of four-way links of the earth measurement and control station, the relay satellite and the target spacecraft.
5. The method for ranging and measuring the speed of the invisible target spacecraft of the earth measurement and control station according to claim 4, wherein in the step S2, the earth measurement and control station receives the downlink measurement and control signal, judges that the characteristic of the ranging signal is matched with the downlink measurement and control signal, and then completes the capture of four-way distance, the earth measurement and control station outputs four-way carrier Doppler information and calculates four-way speed information according to carrier phase parameters, and simultaneously calculates four-way distance information and continuously performs four-way measurement according to the transmitted and received ranging tone phase shift information.
6. The method for ranging and measuring the speed of the invisible target spacecraft of the earth measurement and control station according to claim 4, wherein in S2, the coherent forwarding ratio of the four-way uplink and the four-way forward link is a ratio of an uplink carrier frequency to a forward carrier frequency, wherein the forward carrier frequency is a receiving frequency value of the target spacecraft;
the coherent forwarding ratio of the four-way downlink link and the four-way backward link is the ratio of the downlink carrier frequency to the backward carrier frequency, wherein the backward carrier frequency is the radio frequency value of the target spacecraft.
7. The method for ranging and measuring the distance and speed of the invisible target spacecraft of the earth measurement and control station according to claim 4, wherein in the step S2, a side tone ranging mode is adopted for four-way measurement, the ranging bandwidth is larger than the range of a double-sideband ranging main tone frequency, the attenuation speed of the ranging passband outside the double-sideband ranging main tone frequency is high, the ranging forwarding modulation degree is in a preset range, and the ranging link budget margin of the four-way measurement is larger than 3dB.
8. The method for ranging and measuring a distance and a speed for an invisible target spacecraft of an earth measurement and control station according to any one of claims 1 to 7, wherein the frequency of the earth measurement and control station in S1 sending an uplink measurement and control signal to a relay satellite is different from the frequency of the earth measurement and control station in S2 sending an uplink measurement and control signal to a relay satellite.
9. The system for measuring the distance and the speed of the invisible target spacecraft of the earth measurement and control station is characterized by comprising four-way measuring equipment and two-way measuring equipment which are arranged on a relay satellite.
10. The system for ranging and measuring the speed of the invisible target spacecraft of the earth measurement and control station according to claim 9, wherein the four-way measurement equipment comprises a four-way measurement transponder, four-way uplink receiving antennas, four-way forward transmitting antennas, four-way return receiving antennas and four-way downlink transmitting antennas;
the double-pass measuring equipment comprises a double-pass measuring transponder, a double-pass uplink receiving antenna and a double-pass downlink transmitting antenna.
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| CN202311708167.9A CN117805806A (en) | 2023-12-12 | 2023-12-12 | Method and system for measuring distance and speed of invisible target spacecraft of earth measurement and control station |
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