CN110986962B - Low-orbit satellite full-arc segment orbit determination method based on high-orbit communication satellite - Google Patents

Low-orbit satellite full-arc segment orbit determination method based on high-orbit communication satellite Download PDF

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CN110986962B
CN110986962B CN201911251410.2A CN201911251410A CN110986962B CN 110986962 B CN110986962 B CN 110986962B CN 201911251410 A CN201911251410 A CN 201911251410A CN 110986962 B CN110986962 B CN 110986962B
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earth
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CN110986962A (en
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丁硕
王源盺
王霄
韦沛
苏行
杨旭海
孙保琪
秋宏兴
李志刚
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University of Chinese Academy of Sciences
National Time Service Center of CAS
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Abstract

The invention discloses a low-orbit satellite full-arc orbit determination method based on a high-orbit communication satellite, which comprises the following steps: establishing a space-time reference; respectively acquiring orbit information of a plurality of high-orbit communication satellites; respectively receiving signals transmitted by the ground main control station and forwarded by the plurality of high-orbit communication satellites by using a low-orbit satellite and a ground main control station, and obtaining time delay values of a plurality of groups of signal propagation; calculating pseudo range values of the plurality of high-orbit communication satellites and the low-orbit satellite; and calculating the orbit coordinates and clock errors of the low-orbit satellite according to the pseudo range values of the plurality of high-orbit communication satellites and the low-orbit satellite. The method of the invention utilizes the high orbit and high orbit communication satellite, can basically realize full arc section tracking on the low orbit satellite, is a high-efficiency low orbit satellite orbit determination method, and has no limit on the number of low orbit satellite users.

Description

Low-orbit satellite full-arc segment orbit determination method based on high-orbit communication satellite
Technical Field
The invention belongs to the technical field of satellite orbit determination, and particularly relates to a low-orbit satellite full-arc orbit determination method based on a high-orbit communication satellite.
Background
The low-orbit satellite plays an irreplaceable role in the fields of earth gravitational field measurement, high-precision mapping, earth resource exploration and the like. In recent years, with the rapid development of modern mobile communication and electronic component technologies, some obstacles restricting early low-earth-orbit satellite communication are gradually eliminated, so that the application of low-earth-orbit satellites in the communication field is gradually mature. With the continuous expansion of the application field of low-orbit satellites, the real-time performance and high precision requirements on the orbit determination of the low-orbit satellites are higher and higher. Currently, low-earth orbit determination mainly depends on ground tracking measurement technology and satellite-borne GNSS (Global navigation satellite System) orbit determination technology.
For the low-orbit satellite to measure the orbit, if the ground tracking technology is adopted, the global station arrangement is needed to realize the full-arc tracking of the low-orbit satellite, thereby causing the increase of the observation cost, and the overseas station establishment is not easy. The method for realizing the orbit determination of the low-orbit satellite by utilizing the satellite-borne GNSS is a method which is used more at present, and generally needs to use global GNSS satellites to realize the orbit determination of the low-orbit satellite in a full arc section. However, GNSS communication functions are weak and the reliability of low orbit constellation orbit determination is adversely affected by excessive reliance on GNSS. In order to reduce the dependence on GNSS, the research on precisely measuring the orbit of the low-orbit satellite by other technologies becomes a problem to be solved in the field of low-orbit satellite orbit determination.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a low-orbit satellite full-arc orbit determination method based on a high-orbit communication satellite. The technical problem to be solved by the invention is realized by the following technical scheme:
the invention provides a low-orbit satellite full-arc orbit determination method based on a high-orbit communication satellite, which comprises the following steps:
establishing a space-time reference;
respectively acquiring orbit information of a plurality of high-orbit communication satellites;
respectively receiving signals transmitted by the ground main control station and forwarded by the plurality of high-orbit communication satellites by using a low-orbit satellite and a ground main control station, and obtaining time delay values of a plurality of groups of signal propagation;
calculating pseudo range values of the plurality of high-orbit communication satellites and the low-orbit satellite;
and calculating the orbit coordinates and clock errors of the low-orbit satellite according to the pseudo range values of the plurality of high-orbit communication satellites and the low-orbit satellite.
In one embodiment of the invention, establishing a spatiotemporal reference comprises:
establishing a time reference, and tracing the atomic clock time of the ground main control station to the national standard time;
and establishing a space reference, and measuring the precise coordinates of the ground master control station in advance.
In an embodiment of the present invention, the receiving, by a low earth orbit satellite and a ground master control station, signals transmitted by the ground master control station and forwarded by the plurality of high earth orbit communication satellites, and obtaining a plurality of sets of delay values of signal propagation respectively includes:
transmitting an uplink signal by using the ground master control station;
the uplink signals are forwarded through transparent repeaters carried on the plurality of high-orbit communication satellites to form two paths of downlink signals;
receiving the two downlink signals through the low earth orbit satellite and the ground master control station respectively;
and respectively measuring the propagation delay values of the uplink signal and the two paths of downlink signals.
In an embodiment of the present invention, the measuring the propagation delay values of the uplink signal and the two downlink signals respectively includes measuring:
the above-mentionedGeometric time delay from ground main control station to high-orbit communication satellite
Figure GDA0002597442890000031
Time delay of ground main control station transmitting equipment
Figure GDA0002597442890000032
Ionospheric time delay of uplink signal from the ground master control station to the high-orbit communication satellite
Figure GDA0002597442890000033
And tropospheric time delay
Figure GDA0002597442890000034
Transparent transponder time delay tau on said high earth orbit communication satellitetIonospheric time delay of downlink signal from the high earth orbit communication satellite to the ground main control station
Figure GDA0002597442890000035
And tropospheric time delay
Figure GDA0002597442890000036
Time delay of receiving equipment of ground main control station
Figure GDA0002597442890000037
Geometric time delay from the high-orbit communication satellite to the low-orbit satellite
Figure GDA0002597442890000038
Ionospheric time delay of downlink signal from the high-orbit communication satellite to the low-orbit satellite
Figure GDA0002597442890000039
And tropospheric time delay
Figure GDA00025974428900000310
Receiving device time delay of the low earth orbit satellite
Figure GDA00025974428900000311
On the low-orbit satelliteClock difference tau between carried atomic clock and system time of ground main control stationclock。
In one embodiment of the invention, calculating pseudorange values for the plurality of high-orbit communication satellites and the low-orbit satellite comprises:
obtaining a propagation delay formula of two paths of signals received by a ground main control station and a low earth orbit satellite S in space:
Figure GDA00025974428900000312
wherein, ts,
Figure GDA00025974428900000315
Respectively showing the signal transmitting time of the ground main control station, the signal receiving time of the ground main control station and the signal receiving time of the low-orbit satellite,
Figure GDA00025974428900000313
respectively representing the ground master control station and the current high-orbit communication satellite S1Geometric distance between and said current high orbit communication satellite S1Geometric distance, tau, from said low-earth satellite1,τ2Error due to other reasons, c represents the speed of light;
obtaining the current high orbit communication satellite S according to the propagation delay formula1A pseudo range value to the low earth orbit satellite S
Figure GDA00025974428900000314
Figure GDA0002597442890000041
Wherein the content of the first and second substances,
Figure GDA0002597442890000042
for current high-orbit communication satellite S1A geometric distance from the low-earth satellite S;
respectively acquiring the plurality of high-orbit communication satellites SiAnd the above-mentionedPseudorange values for low earth orbit satellites S
Figure GDA0002597442890000043
In one embodiment of the present invention, calculating the orbit coordinates and clock offset of the low-orbit satellite according to the pseudo-range values of the plurality of high-orbit communication satellites and the low-orbit satellite comprises:
connecting the plurality of high-orbit communication satellites SiA pseudo range value to the low earth orbit satellite S
Figure GDA0002597442890000044
Transmitting to the ground master control station;
calculating through the ground main control station to obtain the orbit coordinates of the low-orbit satellite and the clock difference tau between the atomic clock carried on the low-orbit satellite and the system time of the ground main control stationclock。
In one embodiment of the present invention, calculating the orbit coordinates and clock offset of the low-orbit satellite according to the pseudo-range values of the plurality of high-orbit communication satellites and the low-orbit satellite comprises:
connecting the plurality of high-orbit communication satellites SiA pseudo range value to the low earth orbit satellite S
Figure GDA0002597442890000045
Transmitting to the low earth orbit satellite;
calculating on the low-orbit satellite by using a simplified dynamic model to obtain the orbit coordinates of the low-orbit satellite and the clock difference tau between the atomic clock carried on the low-orbit satellite and the system time of the ground main control stationclock。
In one embodiment of the invention, the orbital altitudes of the plurality of high-orbit communication satellites are each greater than the orbital altitude of the low-orbit satellite.
In one embodiment of the invention, the high earth orbit communication satellite is a GEO satellite or an IGSO satellite.
In one embodiment of the invention, the low-earth orbit satellite is provided with a signal receiver and an atomic clock, the signal receiver is used for receiving signals transmitted by a transparent transponder on the high-earth orbit communication satellite, and the atomic clock is used for recording the signal receiving time.
Compared with the prior art, the invention has the beneficial effects that:
the method of the invention can realize the full arc tracking of the low orbit satellite by using a small amount of high orbit communication satellites, is a high-efficiency orbit determination method, and has no limit on the number of low orbit satellite users. Compared with the ground tracking measurement technology, the method does not need global station arrangement, and reduces the number of ground measurement stations; compared with the satellite-borne GNSS orbit determination technology, the orbit determination of the low-orbit satellite can be realized only by a small amount of high-orbit communication satellites, and the information such as the precise orbit of the high-orbit communication satellites can be sent to the low-orbit satellite by utilizing a communication channel, so that the integration of orbit determination and communication is effectively realized.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
Fig. 1 is a flowchart of a low-earth orbit satellite full arc segment orbit determination method based on a high-earth orbit communication satellite according to an embodiment of the present invention;
fig. 2 is a schematic working process diagram of a low-orbit satellite full-arc orbit determination method based on a high-orbit communication satellite according to an embodiment of the present invention.
Detailed Description
In order to further explain the technical means and effects of the present invention adopted to achieve the predetermined object, a full arc orbit determination method for a low-orbit satellite based on a high-orbit communication satellite according to the present invention is described in detail below with reference to the accompanying drawings and the detailed description.
The foregoing and other technical matters, features and effects of the present invention will be apparent from the following detailed description of the embodiments, which is to be read in connection with the accompanying drawings. The technical means and effects of the present invention adopted to achieve the predetermined purpose can be more deeply and specifically understood through the description of the specific embodiments, however, the attached drawings are provided for reference and description only and are not used for limiting the technical scheme of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or device that comprises a list of elements does not include only those elements but may include other elements not expressly listed. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of additional like elements in the article or device comprising the element.
Example one
Referring to fig. 1 and fig. 2, fig. 1 is a flowchart of a low-orbit satellite full arc segment orbit determination method based on a high-orbit communication satellite according to an embodiment of the present invention; fig. 2 is a schematic working process diagram of a low-orbit satellite full-arc orbit determination method based on a high-orbit communication satellite according to an embodiment of the present invention.
The method for determining the orbit of the low-orbit satellite in the full arc segment comprises the following steps:
s1, establishing a space-time reference;
s2: respectively acquiring the orbit coordinates of a plurality of high orbit communication satellites;
s3: respectively receiving signals transmitted by the same ground master control station and forwarded by the plurality of high-orbit communication satellites by using the low-orbit satellites, and obtaining time delay values of a plurality of groups of signal propagation;
s4: calculating pseudo range values of a current high-orbit communication satellite and the low-orbit satellite;
s5: measuring and calculating pseudorange values between the plurality of high-orbit communication satellites and the low-orbit satellite;
s6: and calculating the orbit coordinate and clock error of the low-orbit satellite according to the pseudo range values of the plurality of high-orbit communication satellites and the low-orbit satellite.
Further, the S1 includes:
s11: establishing a time reference, and tracing the atomic clock time of the ground main control station to the national standard time;
s12: and establishing a space reference, and measuring the precise coordinates of the ground master control station in advance.
In this embodiment, the S2 includes:
the orbit coordinates of a plurality of different high-orbit communication satellites are obtained by using the existing high-orbit communication satellite orbit measurement technology, and the orbit information with the orbit determination precision of about 1m can be provided.
Further, the S3 includes:
s31: transmitting an uplink signal by using the ground master control station;
s32: the uplink signals are forwarded through transparent repeaters carried on the plurality of high-orbit communication satellites to form two paths of downlink signals;
s33: receiving the two downlink signals through the low earth orbit satellite and the ground master control station respectively;
s34: and respectively measuring the propagation delay values of the uplink signal and the two paths of downlink signals.
In this embodiment, the measuring the propagation delays of the uplink signal and the two downlink signals respectively includes measuring: geometric time delay from the ground main control station to the high-orbit communication satellite
Figure GDA0002597442890000071
Time delay of ground main control station transmitting equipment
Figure GDA0002597442890000072
Ionospheric time delay of uplink signal from the ground master control station to the high-orbit communication satellite
Figure GDA0002597442890000073
And tropospheric time delay
Figure GDA0002597442890000074
Transparent transponder time delay tau on said high earth orbit communication satellitetIonospheric time delay of downlink signal from the high earth orbit communication satellite to the ground main control station
Figure GDA0002597442890000075
And tropospheric time delay
Figure GDA0002597442890000076
Time delay of receiving equipment of ground main control station
Figure GDA0002597442890000077
Geometric time delay from the high-orbit communication satellite to the low-orbit satellite
Figure GDA0002597442890000078
Ionospheric time delay of downlink signal from the high-orbit communication satellite to the low-orbit satellite
Figure GDA0002597442890000079
And tropospheric time delay
Figure GDA00025974428900000710
Receiving device time delay of the low earth orbit satellite
Figure GDA00025974428900000711
Clock difference tau between atomic clock carried on low-orbit satellite and system time of ground main control stationclock. In the present embodiment, it can be considered that
Figure GDA00025974428900000712
In other words, the S3 includes: and the ground main control station is used for transmitting an uplink signal, the uplink signal is transmitted by a transparent transponder on the high-orbit communication satellite, and then is received by the low-orbit satellite and the ground main control station, and the time delay values of the two paths of signals are respectively measured. Further, the propagation delay values of the two signals are: one path is that a ground main control station sends a signal to a high-orbit communication satellite in an ascending way, and the signal is transmitted by a transparent transponder on the high-orbit communication satellite and then received by the ground main control station, and the method comprises the following steps: geometric time delay of the ground master control station to the high-orbit communication satellite
Figure GDA0002597442890000081
Ground mainTime delay of control station transmitting equipment
Figure GDA0002597442890000082
Ionospheric time delay of uplink signal from ground master control station to high-earth orbit communication satellite
Figure GDA0002597442890000083
And tropospheric time delay
Figure GDA0002597442890000084
Transparent transponder time delay tau on high orbit communication satellitetIonospheric time delay of downlink signal from high earth orbit communication satellite to ground main control station
Figure GDA0002597442890000085
And tropospheric time delay
Figure GDA0002597442890000086
Time delay of receiving equipment of ground main control station
Figure GDA0002597442890000087
And time delay tau due to other reasons1(ii) a The other path is that the ground main control station sends a signal to the high-orbit communication satellite in an uplink way, the signal is transmitted by the transparent transponder and then is received by the receiving equipment on the low-orbit satellite, the uplink path of the signal is the same as the signal of the other path, and the downlink path comprises the geometric time delay from the high-orbit communication satellite to the low-orbit satellite
Figure GDA0002597442890000088
Ionospheric time delay of downlink signal from high-orbit communication satellite to low-orbit satellite
Figure GDA0002597442890000089
And tropospheric time delay
Figure GDA00025974428900000810
Low earth orbit satellite receiving equipment time delay
Figure GDA00025974428900000811
Deviation tau between atomic clock carried on low-earth satellite and system time of ground main control stationclockTime delay tau due to other causes2。
Further, the S4 includes:
s41: obtaining a propagation delay formula of two paths of signals received by a ground main control station and a low earth orbit satellite S in space:
Figure GDA00025974428900000812
wherein, ts,
Figure GDA00025974428900000813
Respectively representing the signal transmitting time of the ground main control station, the signal receiving time of the ground main control station and the signal receiving time of the low-orbit satellite, wherein the signal transmitting time is referenced by the atomic clock of the ground main control station, the signal receiving time of the low-orbit satellite is referenced by the atomic clock of the low-orbit satellite,
Figure GDA0002597442890000091
respectively representing the ground master control station and the current high-orbit communication satellite S1Geometric distance between and said current high orbit communication satellite S1The geometric distance to said low earth satellite S,
Figure GDA0002597442890000092
representing the time delay, tau, of the receiving equipment of the ground station1,τ2Representing occasional errors in the observation process due to other factors, τclockAnd c represents the clock difference between the atomic clock of the ground master control station and the atomic clock carried on the low-orbit satellite S, and the light speed. It should be noted that the observation can directly obtain
Figure GDA0002597442890000093
Figure GDA0002597442890000094
The value of (c).
It should be noted that the above process only describes the main systematic error correction, and in the actual error correction, other related systematic error terms are also corrected, such as sagnac effect, relativistic correction, and the like.
Subsequently, the following formula (1) can be used to obtain:
Figure GDA0002597442890000095
arranging to obtain the current high orbit communication satellite S1Geometric distance from the low earth orbit satellite S
Figure GDA0002597442890000096
Figure GDA0002597442890000097
In the formula (3), tauclockThe term cannot be eliminated, so moving this term to the left of the equation:
Figure GDA0002597442890000098
in the formula (4), the left side of the equal sign is the high orbit communication satellite S1Pseudo range value of S between low earth orbit satellite
Figure GDA0002597442890000099
I.e. high earth orbit communication satellite S1Geometric distance of S from low earth orbit satellite
Figure GDA00025974428900000910
And a distance error c.tau caused by a clock difference between an atomic clock of a ground main control station and an atomic clock carried on a low-orbit satelliteclockTo the right of the equation is to obtain the high earth orbit communication satellite S through observation1The distance from the low earth orbit satellite S is the result of subtracting various error terms. When the orbit of the low-orbit satellite S is higher than 500km, the atmosphere is thin, so that the orbit can be not considered
Figure GDA0002597442890000101
The influence of (c).
Further, the S5 includes: respectively acquiring the plurality of high-orbit communication satellites SiA pseudo range value to the low earth orbit satellite S
Figure GDA0002597442890000102
Respectively obtaining the plurality of different high-orbit communication satellites S according to the stepsiA pseudo range value to the low earth orbit satellite S
Figure GDA0002597442890000103
In the embodiment, the time delay value tau obtained by self-receiving and self-sending of the ground master control station1In the method, the sum of the geometric time delay of the master control station ascending to the high-orbit communication satellite, the time delay of the master control station sending equipment, the ionosphere and troposphere time delay of the signal ascending to the high-orbit communication satellite and the time delay of a transparent transponder on the high-orbit communication satellite can be obtained by deducting the time delay of the descending geometric path, the ionosphere and troposphere time delay of the descending path and the time delay of the master control station receiving equipment, and is recorded as tau3And the pseudo range value between the high-orbit communication satellite and the low-orbit satellite is: c (τ)2-τ3)。
Further, the S6 includes:
according to the pseudo range values of the plurality of different high-orbit communication satellites and the low-orbit satellite
Figure GDA0002597442890000107
Orbital coordinates (X, y, z) representing the low earth orbit satellite and orbital coordinates (X) of the plurality of different high earth orbit communication satellitesi,Yi,Zi) The relationship between the following components:
Figure GDA0002597442890000104
specifically, when a low-earth-orbit satellite receives a signal that a plurality of high-earth-orbit communication satellites forward a downlink, pseudo-range values between the plurality of high-earth-orbit communication satellites and the low-earth-orbit satellite, that is, pseudo-range values between the plurality of high-earth-orbit communication satellites and the low-earth-orbit satellite can be obtained：
Figure GDA0002597442890000105
Wherein the content of the first and second substances,
Figure GDA0002597442890000106
represents the time when the low earth orbit satellite receives the signal retransmitted by the ith satellite;
Figure GDA0002597442890000111
indicating the moment at which the ground station receives the signal retransmitted by the ith satellite.
Let the coordinates of the low-earth orbit satellite at a certain time be (X, y, z), and the coordinates of the ith high-earth orbit communication satellite at this time be (X)i,Yi,Zi) And then:
Figure GDA0002597442890000112
substituting formula (5) into formula (4) includes:
Figure GDA0002597442890000113
in equation (6), the left side of the equation contains a total of four unknowns: orbit coordinates (x, y, z) of the low-orbit satellite at a certain moment and clock error tau between the ground main control station and the atomic clock on the low-orbit satelliteclock(ii) a The right side of the equation is the result of deducting various error terms from the signal time delay value obtained by observation, and can be obtained by deducting various error models from the measured data.
Further, the calculation process of the orbit coordinates of the low orbit satellite can be performed at the ground main control station, and can also be performed at the low orbit satellite.
In particular, the plurality of high-orbit communication satellites S are used when the calculation is carried out on the ground main control stationiA pseudo range value to the low earth orbit satellite S
Figure GDA0002597442890000114
Transmitting to the ground master control station; calculating through the ground master control station to obtainObtaining the orbit coordinates of the low-orbit satellite and the clock difference tau between the atomic clock carried on the low-orbit satellite and the system time of the ground main control stationclock。
When performing calculations on low orbit satellites, the plurality of high orbit communication satellites SiA pseudo range value to the low earth orbit satellite S
Figure GDA0002597442890000115
Transmitting to the low earth orbit satellite; calculating on the low-orbit satellite by using a simplified dynamic model to obtain the orbit coordinates of the low-orbit satellite and the clock difference tau between the atomic clock carried on the low-orbit satellite and the system time of the ground main control stationclock。
The low-orbit satellite full-arc orbit determination method based on the high-orbit communication satellite can realize full-arc tracking on the low-orbit satellite by using a small amount of high-orbit communication satellites, does not need global station arrangement, and reduces the number of ground stations.
Example two
On the basis of the above embodiments, the present embodiment provides another low-earth-orbit satellite full-arc orbit determination method based on a high-earth-orbit communication satellite, which includes a ground master control station, a plurality of high-earth-orbit communication satellites, and a low-earth-orbit satellite.
Preferably, the plurality of high orbit communication satellites are GEO satellites or IGSO satellites. Correspondingly, the low earth orbit satellite is provided with a signal receiver, and the signal receiver is used for receiving signals which are transmitted by the ground main control station and are forwarded by the GEO satellite or the IGSO satellite.
In this embodiment, the method includes:
step 1: establishing a space-time reference;
specifically, time and space references are established, coordinates of the ground main control station need to be precisely measured in advance, and the atomic clock time of the ground main control station needs to be traced to national standard time.
Step 2: respectively acquiring the orbit information of a plurality of GEO/IGSO satellites;
specifically, with the current technical means, GEO/IGSO satellite orbit information with an orbit accuracy of about 1m can be directly obtained.
And step 3: the ground main control station transmits signals to a high-orbit communication satellite in an ascending way, the signals are transmitted by a transparent transponder on the high-orbit communication satellite and then are respectively received by the low-orbit satellite and the ground main control station, and the propagation delay values of the two paths of signals are measured;
and 4, step 4: calculating pseudo range values of a plurality of different GEO/IGSO satellites and low orbit satellites respectively;
and 5: and obtaining the orbit coordinates of the low-orbit satellite according to the pseudo range values of the plurality of different GEO/IGSO satellites and the low-orbit satellite.
For the specific calculation processes in step 5 and step 6, please refer to formulas (1) to (6) in the first embodiment, which is not described herein again.
The method of the embodiment of the invention utilizes the GEO/IGSO satellite of the high orbit, can realize full arc section tracking on the low orbit satellite, is a high-efficiency orbit determination method, and has no limit on the number of low orbit satellite users.
Next, a test is performed on the low-orbit satellite full-arc segment orbit determination method based on the high-orbit communication satellite in the embodiment of the method.
Specifically, assume that 3 GEO satellites respectively located at 160 degrees, 110 degrees and 60 degrees of east longitude are used as high-orbit communication satellites, a signal receiver is mounted on a near-earth sun-synchronous orbit satellite with a height of 500 kilometers, and the satellite is used as a low-orbit satellite to be determined, and the method of the embodiment is used for calculating the orbit coordinates of the low-orbit satellite. Simulation calculations were performed for various combinations of ranging random error and systematic error of 10 meters, 5 meters, 2 meters, 1 meter, and 0.1 meter, respectively. The specific calculation process is as follows: firstly, constructing a standard track number; secondly, forecasting by using the standard orbit number to obtain a standard orbit ephemeris (a position and velocity sequence of one point per minute); thirdly, generating pseudo-range analog data between satellites with random ranging errors of 10 meters, 5 meters, 2 meters, 1 meter and 0.1 meter respectively; fourthly, respectively adding system errors of 10 meters, 5 meters, 2 meters, 1 meter, 0.1 meter and 0.0 meter to the simulation data with different random errors to carry out low-orbit satellite orbit determination, wherein the fixed GEO satellite orbit is a standard orbit, and only the low-orbit satellite orbit is solved to obtain a low-orbit satellite orbit determination ephemeris; and fifthly, comparing the orbit determination ephemeris of the low-orbit satellite with the standard ephemeris of the low-orbit satellite to obtain the orbit determination error of the low-orbit satellite. The simulation forecast time length is 1 day from epoch.
Referring to table 1 and table 2, table 1 is a root mean square value of a position difference between an orbit coordinate of a low orbit satellite obtained by the method of the present embodiment and an actual orbit coordinate; table 2 shows the maximum value of the position difference between the orbit coordinate of the low-orbit satellite obtained by the method of this embodiment and the actual orbit coordinate, where the horizontal direction in the table is a system error, and the vertical direction is a random error. Table 1 reflects the overall error of the entire tracking arc, while table 2 reflects the error of one point, and overall, the random error of the measured data has less influence on the tracking accuracy than the systematic error. As can be seen from tables 1 and 2, the orbit determination accuracy of the low-orbit satellite full-arc orbit determination method of the embodiment can reach about 1 m.
TABLE 1 root mean square value (m) of the position difference between the orbital coordinate of the low-orbit satellite obtained by the method of this embodiment and the actual orbital coordinate
Random/systematic error 10.0 5.0 2.0 1.0 0.1 0.0
10.0 1.051111 0.504744 0.365447 0.397430 0.455642 0.166065
5.0 1.342627 0.714200 0.351247 0.243466 0.171144 0.166065
2.0 1.281864 0.647233 0.270514 0.150785 0.071015 0.068536
1.0 1.284172 0.649855 0.273973 0.155295 0.077251 0.074645
0.1 1.272190 0.635785 0.253975 0.126754 0.013328 0.005682
Table 2 maximum value (m) of the position difference between the orbital coordinate of the low earth orbit satellite obtained by the method of the present embodiment and the actual orbital coordinate
Random/systematic error 10.0 5.0 2.0 1.0 0.1 0.0
10.0 1.574370 0.703908 0.695607 0.796801 0.895321 0.278623
5.0 2.116642 1.159278 0.594358 0.412999 0.284903 0.278623
2.0 1.934669 0.973067 0.400335 0.216324 0.128960 0.129338
1.0 1.932466 0.970206 0.402580 0.234023 0.150843 0.145369
0.1 1.930774 0.966520 0.387967 0.195179 0.022648 0.007187
The method of the embodiment utilizes a small number of high-orbit communication satellites, can realize full arc tracking of the low-orbit satellites, is an efficient orbit determination method, and has no limit on the number of low-orbit satellite users. Compared with the ground tracking measurement technology, the method does not need global station arrangement, and reduces the number of ground measurement stations; compared with the satellite-borne GNSS orbit determination technology, the orbit determination of the low-orbit satellite can be realized only by a small amount of high-orbit communication satellites, and the information such as the precise orbit of the high-orbit communication satellites can be sent to the low-orbit satellite by utilizing a communication channel, so that the integration of orbit determination and communication is effectively realized.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.

Claims (7)

1. A low-orbit satellite full-arc orbit determination method based on a high-orbit communication satellite is characterized by comprising the following steps:
establishing a space-time reference;
respectively acquiring orbit information of a plurality of high-orbit communication satellites;
respectively receiving signals transmitted by the ground main control station and forwarded by the plurality of high-orbit communication satellites by using a low-orbit satellite and a ground main control station, and obtaining time delay values of a plurality of groups of signal propagation;
calculating pseudo range values of the plurality of high-orbit communication satellites and the low-orbit satellite;
calculating the orbit coordinates and clock error of the low orbit satellite according to the pseudo range values of the plurality of high orbit communication satellites and the low orbit satellite,
respectively receiving signals transmitted by the ground main control station and forwarded by the plurality of high-orbit communication satellites by using a low-orbit satellite and a ground main control station, and obtaining time delay values of propagation of a plurality of groups of signals, wherein the time delay values comprise:
transmitting an uplink signal by using the ground master control station;
the uplink signals are forwarded through transparent repeaters carried on the plurality of high-orbit communication satellites to form two paths of downlink signals;
receiving the two downlink signals through the low earth orbit satellite and the ground master control station respectively;
respectively measuring the propagation delay values of the uplink signal and the two paths of downlink signals,
respectively measuring the propagation delay values of the uplink signal and the two paths of downlink signals, including measuring:
geometric time delay from the ground main control station to the high-orbit communication satellite
Figure FDA0002610492230000011
Time delay of ground main control station transmitting equipment
Figure FDA0002610492230000012
Ionospheric time delay of uplink signal from the ground station to the high earth orbit satellite
Figure FDA0002610492230000013
And tropospheric time delay
Figure FDA0002610492230000014
Transparent transponder time delay τ on said high-orbit communications satellitetIonospheric time delay of downlink signal from the high earth orbit communication satellite to the ground main control station
Figure FDA0002610492230000015
And tropospheric time delay
Figure FDA0002610492230000016
Time delay of receiving equipment of ground main control station
Figure FDA0002610492230000017
Geometric time delay from the high earth orbit communication satellite to the low earth orbit satellite
Figure FDA0002610492230000021
Ionospheric time delay of downlink signal from said high-earth satellite to said low-earth satellite
Figure FDA0002610492230000022
And tropospheric time delay
Figure FDA0002610492230000023
A receiving device time delay of the low earth orbit satellite
Figure FDA0002610492230000024
Clock difference tau between the atomic clock carried on the low-earth orbit satellite and the system time of the ground main control stationclock，
Calculating pseudorange values for the plurality of high-orbit communication satellites and the low-orbit satellite, comprising:
obtaining a propagation delay formula of two paths of signals received by a ground main control station and a low earth orbit satellite S in space:
Figure FDA0002610492230000025
wherein, ts,tr1,tr2Respectively showing the signal transmitting time of the ground main control station, the signal receiving time of the ground main control station and the signal receiving time of the low-orbit satellite,
Figure FDA0002610492230000026
respectively representing the ground master control station and the current high-orbit communication satellite S1Geometric distance between and said current high orbit communication satellite S1Geometric distance, tau, from said low-earth satellite1,τ2Error due to other reasons, c represents the speed of light;
obtaining the current high orbit communication satellite S according to the propagation delay formula1A pseudo range value to the low earth orbit satellite S
Figure FDA0002610492230000027
Figure FDA0002610492230000028
Wherein the content of the first and second substances,
Figure FDA0002610492230000029
for current high-orbit communication satellite S1A geometric distance from the low-earth satellite S;
respectively acquiring the plurality of high-orbit communication satellites SiA pseudo range value to the low earth orbit satellite S
Figure FDA00026104922300000210
2. The method for full arc segment orbit determination of low earth orbit satellites based on high earth orbit communication satellites of claim 1 wherein establishing a spatiotemporal reference comprises:
establishing a time reference, and tracing the atomic clock time of the ground main control station to the national standard time;
and establishing a space reference, and measuring the precise coordinates of the ground master control station in advance.
3. The method for full-arc orbit determination of a low-orbit satellite based on a high-orbit communication satellite according to claim 1, wherein calculating the orbit coordinates and clock error of the low-orbit satellite according to the pseudo-range values of the high-orbit communication satellites and the low-orbit satellite comprises:
connecting the plurality of high-orbit communication satellites SiA pseudo range value to the low earth orbit satellite S
Figure FDA0002610492230000031
Transmitting to the ground master control station;
calculating through the ground main control station to obtain the orbit coordinates of the low-orbit satellite and the clock difference tau between the atomic clock carried on the low-orbit satellite and the system time of the ground main control stationclock。
4. The method for full-arc orbit determination of a low-orbit satellite based on a high-orbit communication satellite according to claim 1, wherein calculating the orbit coordinates and clock error of the low-orbit satellite according to the pseudo-range values of the high-orbit communication satellites and the low-orbit satellite comprises:
connecting the plurality of high-orbit communication satellites SiA pseudo range value to the low earth orbit satellite S
Figure FDA0002610492230000032
Transmitting to the low earth orbit satellite;
calculating on the low-orbit satellite by using a simplified dynamic model to obtain the orbit coordinates of the low-orbit satellite and the clock difference tau between the atomic clock carried on the low-orbit satellite and the system time of the ground main control stationclock。
5. The method of claim 1, wherein the orbital altitudes of the plurality of high-orbit communication satellites are all greater than the orbital altitude of the low-orbit satellite.
6. The method for full arc segment determination of low earth orbit satellites based on high earth orbit communication satellites of claim 1, wherein the high earth orbit communication satellites are GEO satellites or IGSO satellites.
7. The method for full-arc orbit determination of a low-earth orbit satellite based on a high-earth orbit communication satellite according to any one of claims 1 to 6, characterized in that a signal receiver and an atomic clock are mounted on the low-earth orbit satellite, the signal receiver is used for receiving the signal transmitted by a transparent transponder on the high-earth orbit communication satellite, and the atomic clock is used for recording the signal receiving time.
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