CN104501804B - A kind of in-orbit orbit prediction method of satellite based on gps measurement data - Google Patents
A kind of in-orbit orbit prediction method of satellite based on gps measurement data Download PDFInfo
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- CN104501804B CN104501804B CN201410788393.7A CN201410788393A CN104501804B CN 104501804 B CN104501804 B CN 104501804B CN 201410788393 A CN201410788393 A CN 201410788393A CN 104501804 B CN104501804 B CN 104501804B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
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Abstract
The present invention proposes a kind of in-orbit orbit prediction method of satellite based on gps measurement data, closely justify satellite orbit mainly for low rail and give a kind of satellite parsing ephemeris parameter model, in-orbit estimation is carried out to the ephemeris model parameters using GPS metrical informations, the satellite ephemeris of arbitrary time span can be forecast.Simulation result shows, the near-earth circular orbit for more than 450km, within forecast precision is up to 20km, with good practicality.
Description
Technical field
The present invention relates to the Satellite Orbit Prediction technical field in celestial mechanics, and in particular to one kind measures number based on GPS
According to the in-orbit orbit prediction method of satellite.
Background technology
It is in-orbit for satellite autonomous with the development for continuing to develop especially Satellite Networking of current satellite technology both at home and abroad
The demand of ability is continuously increased, and in-orbit real-time track is determined to become the most important condition for judging whether satellite has capacity of will.With
The application of inexpensive Global Navigation System receiver (including the GPS and the triones navigation system of China in the U.S.), is defended small
Real-time track determination is carried out on star and then the capacity of will of moonlet is improved, it has also become a kind of current development trend.
The satellite in-orbit track determination in real time of GPS metrical informations is currently based on mainly using Kalman filter and based on track
The track of kinetic model determines technology, and the instantaneous orbit state (position and velocity) or osculating element to satellite are entered
Row estimation, information is determined with the high-precision orbital for providing satellite in real time.Its result is mainly used in the various real-time applications of satellite, for example
The geo-location coding of image, sensor are controlled with the sensing that can drive antenna and satellite three-axis attitude.But for using this
The navigation system that track determines technology is planted, its result is difficult to long-term in-orbit ephemeris and forecasts (such as after several orbital periods
Even orbit prediction after a few days), and this point is exactly required for satellite Autonomous mission planning and autonomous management.Its is main
Reason is：Orbit prediction is carried out based on instantaneous orbit parameter or osculating element, it is necessary to carry out complexity, amount of calculation it is larger
Dynamics of orbits numerical integration calculating process, when generally requiring to take substantial amounts of spaceborne computer machine, thus is unsuitable for being grown
Phase orbit prediction.
The content of the invention
In order to solve defect present in prior art, exist the invention provides a kind of satellite based on gps measurement data
Rail orbit prediction method, the method closely justifies satellite orbit for low rail conventional at present, based on the dynamics of orbits model of parsing,
In-orbit estimation is carried out to related ephemeris model parameters using GPS metrical informations using Kalman filter technology.Can be to random time
The satellite ephemeris at interval are forecast, and track is integrated without by step-length, and its amount of calculation is relatively small, and satellite can be entered
Row mid-term or long-term orbit prediction (multiple orbital periods or more than a week).
In order to achieve the above object, this invention takes following technical scheme：
A kind of in-orbit orbit prediction method of satellite based on gps measurement data, comprises the following steps：
S1：Current calculating state is judged according to initialization flag, if needs are initialized, if desired carried out initial
Change, then perform S2, otherwise perform S4；
S2：Device initialization is filtered according to initial method mark, wherein initial method is divided into three kinds：A) basis
Gps measurement data is filtered device initialization, i.e., the measurement data for being provided according to GPS, measurement moment corresponding rail needed for calculating
The initial guess of road mean element collection；B) initialized according to the ephemeris model parameters noted on ground；C) with last wave filter
The ephemeris parameter that calculating convergence is obtained is initialized；
S3：After the completion of initialization, by initialization flag set, S1 is returned to；
S4：Kalman filter calculating is carried out, ephemeris model parameters are filtered, the ephemeris parameter for being updated.
Further, the Kalman filter is calculated as the Kalman filter of Bierman-UD decomposed forms.
Further, whether the initialization flag in the step S1 is the outside mark for being filtered device initialization for being given
Will.
Further, the initial method mark in the step S2 pre-sets, and does not have within certain a period of time of track
Have in the case of gps measurement data, initial method traffic sign placement is a.
Further, the ephemeris model parameters are time t on the corresponding star of ephemeris model parametersk, mean orbit half it is long
AxleMean orbit inclination angleAverage longitude of ascending nodeThe amplitude of eccentricity vector long period variationEccentricity vector
The phase of long period variationMean latitude angleSecular term perturbation coefficient Ω of right ascension of ascending node1, argument of perigee
A secular term perturbation coefficient ω1, the secular perturbation coefficient lambda of mean latitude angle one time1, secular perturbation system of average semi-major axis
Number ad, eccentricity vector x component ξ a secular perturbation coefficient ξd, eccentricity vector y-component η a secular perturbation coefficient
ηd, eccentricity vector constant offset ef, mean latitude angle secondary secular perturbation coefficient lambda2。
Further, step S5 is also included after the step S4:It is based on without singular point variable according to the ephemeris parameter for updating
Method of quasi-averaging elements calculates the instantaneous orbit radical of any time satellite, and then obtains satellite in trae of date Equatorial TOD coordinates
Position and speed in system.
The present invention is directed to the long-term autonomous operation demand of satellite, it is proposed that a kind of satellite Autonomous based on gps measurement data exist
Rail orbit prediction method, the method is based on the dynamics of orbits model of parsing, using Kalman filter technology, satellite can be carried out
Mid-term or long-term orbit prediction (multiple orbital periods or more than a week).With advantages below：(1) using based on without singular point change
The method of quasi-averaging elements of amount, it is good with self-starting (from initializing), convergence, and enormously simplify amount of calculation on star；(2) to surveying
The sampling request for measuring data strictly (does not allow measurement data to be provided with the non-uniform spacing time, the sampling time can be several seconds~10
In many minutes change) advantage；(3) the near-earth near-circular orbit for more than 450km, in the case of filtering 2.5 days, forecast essence
Degree disclosure satisfy that general mission requirements within 20km；(4) allow there is no measurement data feelings within certain a period of time of track
Under condition (such as gps antenna is blocked by the earth, or provisional failure occurs in receiver), wave filter still can normally run.
Brief description of the drawings
Fig. 1 is the flow chart of the method for the present invention；
Fig. 2 is forecast precision simulation result figure of the method for the present invention in orbit altitude 450km；
Fig. 3 is forecast precision simulation result figure of the method for the present invention in orbit altitude 600km；
Fig. 4 is forecast precision simulation result figure of the method for the present invention in orbit altitude 700km；
Fig. 5 is forecast precision simulation result figure of the method for the present invention in orbit altitude 800km.
Specific embodiment
The present invention is further described for explanation and specific embodiment below in conjunction with the accompanying drawings.
The present invention is measured using GPS and believed using based on method of quasi-averaging elements and Kalman filter technology without singular point variable
Breath carries out in-orbit estimation to related ephemeris model parameters, realizes the in-orbit orbit prediction of satellite.To be calculated in reduction filtering
The influence of error and rounding error to filter status error co-variance matrix orthotropicity, it is to avoid long-time numerical behavior crosses range filter
Diverging, can be using the Kalman filter technology of Bierman-UD decomposed forms.
According to the difference of definition, mean elements can be divided into mean elements and quasi plane assumption, wherein mean elements only again
Change in long term is contained, quasi plane assumption includes change in long term and long period variation, the cycle energy of long period variation
Several moons are reached, thus its influence be can not ignore in track Study on Problems, meanwhile, it is strange that quasi plane assumption can eliminate commensurability
Point problem, thus it is of the invention using the method for quasi-averaging elements without singular point variable is based on, and to simplify amount of calculation on star, calculating process is only
Consider single order precision.
Near-earth satellite is mainly subject to the effect such as terrestrial gravitation, atmospheric drag, solar light pressure and lunisolar attraction, thus track
Change includes change in long term, long period variation item and variation of short period.It is linear with the time that change in long term is orbit parameter
Or the change of second order and higher order, long period variation is mainly what is caused by the humorous harmonious term of band of earth gravitational field, short-period term
One class is caused by the compression of the Earth, and a class is caused by the humorous harmonious term in field of earth gravitational field.In order to simplify calculating, in mould
Long-term and long period variation is only considered in type.
In the design of ephemeris model, being typically given can describe the Mathematical Modeling of orbit parameter change, according to
This Mathematical Modeling can calculate the instantaneous orbit radical of any time satellite, and then can obtain satellite in trae of date Equatorial
(TOD) position in coordinate system and speed.The method of the present invention is directed to near-circular orbit, thus is become without singular point from following
Amount：
A, i, ξ=ecos ω, η=esin ω, Ω, λ=M+ ω
A in above formula, i, e, ω, Ω are five classics Kepler key elements, and M is mean anomaly, in order to the accurate track that describes becomes
Change, be re-introduced into characterizing the preset parameter of track change in long term and long period variation, while in order to be parsed with the domestic satellite for using
Ephemeris model matches, the ephemeris model parameters form (15 parameter) commonly used present invention employs current domsat, its
It is defined as:
tk--- the time on the corresponding star of ephemeris model parameters；
--- mean orbit semi-major axis；
--- mean orbit inclination angle；
--- average longitude of ascending node；
--- the amplitude of eccentricity vector long period variation；
--- the phase of eccentricity vector long period variation；
--- mean latitude angle；
Ω1--- a secular term perturbation coefficient of right ascension of ascending node；
ω1--- a secular term perturbation coefficient of argument of perigee；
λ1--- the secular perturbation coefficient of mean latitude angle one time；
ad--- secular perturbation coefficient of average semi-major axis；
ξd--- a secular perturbation coefficient of eccentricity vector x component ξ；
ηd--- a secular perturbation coefficient of eccentricity vector y-component η；
ef--- eccentricity vector constant offset；
λ2--- the secondary secular perturbation coefficient at mean latitude angle.
The flow of the method for the present invention is as shown in Figure 1.
S1：Current calculating state is judged according to initialization flag, if needs are initialized, if desired carried out initial
Change, then perform S2, otherwise perform S4；
S2：Device initialization is filtered according to initial method mark, wherein initial method is divided into three kinds：A) basis
Gps measurement data is filtered device initialization, i.e., the measurement data for being provided according to GPS, measurement moment corresponding rail needed for calculating
The initial guess of road mean element collection；B) initialized according to the ephemeris model parameters noted on ground；C) with last wave filter
The ephemeris parameter that calculating convergence is obtained is initialized；
S3：After the completion of initialization, by initialization flag set, S1 is returned to；
S4：Kalman filter calculating is carried out, ephemeris model parameters are filtered, the ephemeris parameter for being updated.
15 parameters chosen more than can calculate position of any time satellite in TOD coordinate systemsRAnd speed
DegreeV, specific calculating process is as follows：
1)t1Moment mean element is calculated
2) average value of latitude argument is calculated
For i=1:6,
end
3)t1The calculating of moment short-period term
4)t1The calculating of moment instantaneous elements
ω=atan2 (- η, ξ)
M=λ-ω
U=λ+2esinM+1.25e2sin2M
F=u- ω
5)t1The calculating of moment satellite position and speed
R=r (P cos f+Q sin f)
WhereinTerrestrial equator mean radius Re=6378.14km, earth gravitational field second order band harmony and
Term coefficient J2=0.00108264.
The method of the present invention is verified by mathematical simulation, with the generation benchmark track in satellite tool box STK, tool
The simulation parameter of body is as follows：
Orbit integration：HPOP
Gravity model：JGM-3；
Solar light pressure：Cr=1.0；Area-mass ratio：0.02m2/kg；Shade section model：Dual Cone；
Aerodynamic drag：Cd=2.2；Area-mass ratio：0.02m2/kg；Atmospheric Density Models：Jachia-Roberts；
Rotary inertia：Ixx=4500kgm2, Iyy=4500kgm2, Izz=4500kgm2；
Three body gravitation：Sun, Earth；
Used as gps measurement data, the sampling interval is 1min, filtering time 5 to the WGS84 coordinate system Satellite information of output
My god, the track to satellite is forecast, calls time in advance 1~7 day, and the TOD coordinate system lower rail track datas with generation are contrasted, right
In different orbit altitudes, forecast precision is as shown in accompanying drawing 2-5.Simulation result shows that the near-earth for more than 450km justifies rail
Road, within forecast precision is up to 20km, with good practicality.
The present invention with self-starting (from initialize), convergence it is good, not strict to the sampling request of measurement data (allow to survey
Amount data be given with the non-uniform spacing time, the sampling time can change in several seconds~more than 10 minutes) advantage, even allow for
Without (such as gps antenna is blocked by the earth, or receiver appearance is provisional in the case of measurement data in certain a period of time of track
Failure), wave filter still can normally run.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
Specific implementation of the invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should be all considered as belonging to of the invention
Protection domain.
Claims (7)
1. a kind of in-orbit orbit prediction method of satellite based on gps measurement data, it is characterised in that：Methods described includes following step
Suddenly：
S1：Current calculating state is judged according to initialization flag, if needs are initialized, and are if desired initialized, then
S2 is performed, S4 is otherwise performed；
S2：Device initialization is filtered according to initial method mark, wherein initial method is divided into three kinds：A) surveyed according to GPS
Amount data are filtered device initialization, i.e., the measurement data for being provided according to GPS, the measurement moment corresponding flat root of track needed for calculating
The initial guess of manifold；B) initialized according to the ephemeris model parameters noted on ground；C) calculated with last wave filter and received
The ephemeris parameter for obtaining is held back to be initialized；It is first determined whether initialized with gps data, if then using method a),
If otherwise continuing to determine whether with data initialization is noted on ground, if then using method b), if otherwise using method c), it is allowed to
In the case of no measurement data in certain a period of time of track, wave filter still can normally run；
S3：After the completion of initialization, by initialization flag set, S1 is returned to；
S4：Kalman filter calculating is carried out, ephemeris model parameters are filtered, the ephemeris parameter for being updated.
2. the in-orbit orbit prediction method of satellite according to claim 1, it is characterised in that：The Kalman filter is calculated as
The Kalman filter of Bierman-UD decomposed forms.
3. the in-orbit orbit prediction method of satellite according to claim 1, it is characterised in that：Initialization in the step S1
Whether it is masked as the outside mark for being filtered device initialization for being given.
4. the in-orbit orbit prediction method of satellite according to claim 1, it is characterised in that：Initialization in the step S2
Method mark pre-sets, in the case of no gps measurement data in certain a period of time of track, initial method traffic sign placement
It is a.
5. the in-orbit orbit prediction method of satellite according to claim 1, it is characterised in that：The ephemeris model parameters are star
Go through time t on the corresponding star of model parameterk, mean orbit semi-major axisMean orbit inclination angleAverage longitude of ascending nodePartially
The amplitude of heart rate vector long period variationThe phase of eccentricity vector long period variationMean latitude angleAscending node is red
Secular term perturbation coefficient Ω of warp1, argument of perigee a secular term perturbation coefficient ω1, mean latitude angle it is once long-term
Perturbation coefficient λ1, secular perturbation coefficient a of average semi-major axisd, eccentricity vector x component ξ a secular perturbation coefficient ξd、
Secular perturbation coefficient η of eccentricity vector y-component ηd, eccentricity vector constant offset ef, mean latitude angle it is secondary long-term
Perturbation coefficient λ2。
6. the in-orbit orbit prediction method of satellite according to claim 1, it is characterised in that：Also include step after the step S4
Rapid S5:The instantaneous rail that method of quasi-averaging elements without singular point variable calculates any time satellite is based on according to the ephemeris parameter for updating
Road radical, and then obtain position and speed of the satellite in trae of date Equatorial TOD coordinate systems.
7. the in-orbit orbit prediction method of satellite according to claim 1, it is characterised in that：Methods described is to measurement data
Sampling request is not strict, it is allowed to which measurement data is given with the non-uniform spacing time.
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| CN105866807A (en) * | 2016-04-05 | 2016-08-17 | 南信大影像技术工程（苏州）有限公司 | Algorithm capable of improving precision of GNSS real-time monitoring data |
| CN106840159B (en) * | 2016-12-12 | 2019-06-18 | 西安空间无线电技术研究所 | A kind of coordinate transformation method based on ellipticity angle compensation |
| CN109001760B (en) * | 2018-06-04 | 2020-11-10 | 北京未来导航科技有限公司 | Low-orbit satellite broadcast ephemeris parameter expression method |
| CN109000666B (en) * | 2018-06-05 | 2021-11-23 | 北京电子工程总体研究所 | Autonomous orbit determination method and system based on central celestial body vector observation |
| CN110011719B (en) * | 2019-03-05 | 2020-05-29 | 上海卫星工程研究所 | Satellite orbit acquisition control method utilizing GPS orbit determination data |
| CN113740887B (en) * | 2019-04-30 | 2024-08-16 | 上海微小卫星工程中心 | Satellite injection orbit extrapolation and satellite theoretical orbit determination method |
| CN110595485B (en) * | 2019-08-08 | 2023-08-11 | 上海航天电子有限公司 | Low-orbit satellite long-term orbit prediction method based on two-row number |
| CN111953401B (en) * | 2020-07-28 | 2022-06-07 | 中国西安卫星测控中心 | Autonomous request type orbit service system for microsatellite |
| CN114383619B (en) * | 2021-12-07 | 2023-09-05 | 上海航天控制技术研究所 | High-precision track calculation method |
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