CN112504281B - Spacecraft orbit determination method based on Beidou inter-satellite unidirectional link - Google Patents
Spacecraft orbit determination method based on Beidou inter-satellite unidirectional link Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
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- G—PHYSICS
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- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention relates to a spacecraft orbit determination method based on a Beidou inter-satellite unidirectional link, which comprises the following steps: s1, a Beidou satellite transmits an inter-satellite link signal to a spacecraft through an inter-satellite link antenna; s2, the spacecraft only works in a receiving mode, receives signals sent by the Beidou satellite, and calculates pseudo-range values according to the received signals; s3, after the pseudo-range values for a certain time are accumulated, the orbit parameters of the spacecraft are calculated. According to the spacecraft orbit determination method based on the Beidou inter-satellite unidirectional link, only the unidirectional link is established between the spacecraft and the Beidou satellite, only satellite signals are received, and the technical complexity of orbit determination realization and the engineering realization difficulty are reduced. On the other hand, the high orbit satellite can realize the orbit determination accuracy of hundred meters by the orbit determination accuracy of the unidirectional link construction, which is equivalent to the orbit determination accuracy performance of the bidirectional link construction.
Description
Technical Field
The invention belongs to the technical field of spacecraft measurement and control, and particularly relates to a spacecraft orbit determination method based on a Beidou inter-satellite unidirectional link.
Background
Determining the orbit is an important task of the spacecraft in orbit. The method for determining the orbit of the spacecraft by using the Beidou inter-satellite link is a new scheme for determining the orbit of the spacecraft, and has the main advantages that the orbit determination function of the spacecraft can be realized; and can establish a bidirectional link to realize the backup communication function. The method has important significance for improving the on-orbit autonomous running capability of the spacecraft. At present, the measurement of orbit of a spacecraft by adopting a Beidou inter-satellite link is carried out by establishing a bidirectional time division link with a Beidou satellite. The process of establishing a link measurement orbit with the Beidou satellite in two directions can be divided into two stages of time-frequency coarse synchronization and two-way link establishment. In the coarse synchronization stage, the spacecraft completes the coarse synchronization of the own time frequency and the Beidou satellite by receiving the Beidou signal. After the time-frequency coarse synchronization is completed, entering a bidirectional link establishment stage, transmitting signals by the Beidou satellite and the spacecraft in one time slot, respectively calculating to obtain pseudo-range values, accumulating the bidirectional pseudo-range values for a certain time, and then performing orbit calculation to obtain orbit parameters of the spacecraft to complete the orbit determination task. Therefore, the orbit of the spacecraft is measured through the bidirectional link, the bidirectional time division link is required to be established with the Beidou satellite, and in the process of establishing the link, the spacecraft is required to have higher time-frequency precision and stability for realizing time-frequency alignment, so that the engineering realization cost is relatively high.
Disclosure of Invention
The invention aims to solve the technical problems and provides a spacecraft orbit determination method based on a Beidou inter-satellite unidirectional link, which is low in implementation difficulty.
In order to achieve the above purpose of the present invention, the present invention provides a spacecraft orbit determination method based on a Beidou inter-satellite unidirectional link, comprising:
s1, a Beidou satellite transmits an inter-satellite link signal to a spacecraft through an inter-satellite link antenna;
s2, the spacecraft only works in a receiving mode, receives signals sent by the Beidou satellite, and calculates pseudo-range values according to the received signals;
s3, after the pseudo-range values for a certain time are accumulated, the orbit parameters of the spacecraft are calculated.
According to one aspect of the invention, in step S1, the Beidou satellite transmits a signal S to the spacecraft via the inter-satellite link antenna according to the planned link time slot j (t)：
Wherein j represents satellite number, A represents signal amplitude, and P I Representing I branch spreading code, P Q Representing the Q branch spreading code, D I Representing the modulated data code on the I-branch, f representing the carrier frequency,
Representing the initial phase of the carrier.
According to one aspect of the present invention, in step S2, the spacecraft receives and captures the beidou inter-satellite link signal according to the planned link establishment time slot, and obtains a receiving time corresponding to the code phase:
wherein, CP is the sampling time t of the receiver in the inter-satellite ranging code re Corresponding code phase values.
According to one aspect of the present invention, in the step S2, the uncertainty of the time for capturing the signal by the spacecraft is ±5ms, and at least 4 or more Beidou inter-satellite link signals need to be received and captured.
According to one aspect of the invention, in step S3, the pseudo-range value is calculated according to the received signal, and after accumulating 1 hour of data, track solution is performed on track in combination with the accumulated data of the previous day:
estimating the transmitting time t of the link signal between the navigation satellites according to the spread spectrum code table tr,i The pseudorange measurements may be calculated by:
according to the three-sphere geometric intersection principle, a simultaneous equation set is obtained:
wherein, (x) i ,y i ,z i ,δt BD,i ) I=1, 2,3,4 are the positions and clock differences of 4 Beidou satellites, and are known data; ρ i I=1, 2,3,4 is a pseudo-range measurement value obtained by performing signal processing on the inter-satellite link receiver of the spacecraft; (x) u ,y u ,z u ,δt u ) The method is characterized in that the position and the clock difference of the spacecraft are converted into orbit parameters of the spacecraft through fitting after the position and the clock difference data of the spacecraft are accumulated for a period of time.
According to one aspect of the invention, the method further comprises the step that the spacecraft transmits the on-board orbit determination calculation result, the original ranging value and the ranging time to a ground system, the ground system carries out unidirectional orbit determination calculation filtering, and the ground calculation result and the on-board calculation result are compared to complete performance verification analysis of the spacecraft orbit determination.
According to the spacecraft orbit determination method based on the Beidou inter-satellite unidirectional link, only the unidirectional link is established between the spacecraft and the Beidou satellite, only satellite signals are received, and the technical complexity of orbit determination realization and the engineering realization difficulty are reduced. On the other hand, the high orbit satellite can realize the orbit determination accuracy of hundred meters by the orbit determination accuracy of the unidirectional link construction, which is equivalent to the orbit determination accuracy performance of the bidirectional link construction.
Drawings
Fig. 1 schematically shows an analysis chart of the orbital performance of a spacecraft orbit determination method based on a Beidou inter-satellite unidirectional link for a high orbit satellite according to the invention.
Detailed Description
The present invention will be described in detail below with reference to the drawings and the specific embodiments, which are not described in detail herein, but the embodiments of the present invention are not limited to the following embodiments.
The invention provides a spacecraft orbit determination method based on a Beidou inter-satellite unidirectional link, which comprises the following steps that S1, a Beidou satellite sends an inter-satellite link signal to a spacecraft through an inter-satellite link antenna; s2, the spacecraft only works in a receiving mode, receives signals sent by the Beidou satellite, and calculates pseudo-range values according to the received signals; s3, after the pseudo-range values for a certain time are accumulated, the orbit parameters of the spacecraft are calculated.
Specifically, in step S1, according to the planned link time slot, the beidou satellite transmits a signal S to the spacecraft through the inter-satellite link antenna j (t)：
Wherein j represents satellite number, A represents signal amplitude, and P I Representing I branch spreading code, P Q Representing the Q branch spreading code, D I Representing modulated data codes on the I-branch, f representing the carrier waveFrequency (frequency),
Representing the initial phase of the carrier.
In step S2, the spacecraft receives and captures the link signals between the beidou satellites according to the planned link establishment time slot, the uncertainty of the capturing time is ±5ms, and more than 4 link signals between the beidou satellites are received and captured to obtain the receiving time corresponding to the code phase:
wherein, CP is the sampling time t of the receiver in the inter-satellite ranging code re Corresponding code phase values.
In step S3, the pseudo-range value is calculated according to the received signal, and after 1 hour of data is accumulated, track calculation is performed on track in combination with the accumulated data of the previous day:
estimating the transmitting time t of the link signal between the navigation satellites according to the spread spectrum code table tr,i The pseudorange measurements may be calculated by:
according to the three-sphere geometric intersection principle, a simultaneous equation set is obtained:
wherein, (x) i ,y i ,z i ,δt BD,i ) I=1, 2,3,4 are the positions and clock differences of 4 Beidou satellites, and are known data; ρ i I=1, 2,3,4 is a pseudo-range measurement value obtained by performing signal processing on the inter-satellite link receiver of the spacecraft; (x) u ,y u ,z u ,δt u ) Is the position and clock of the spacecraft. Then, spacecraft position and clock difference data are accumulated for a period of time, and the spacecraft position and clock difference data are converted into orbit parameters of the spacecraft through fitting.
And finally, the spacecraft downloads the on-board orbit determination resolving result, the original ranging value and the ranging time to a ground system, the ground system performs unidirectional orbit determination resolving filtering, and the ground resolving result and the on-board resolving result are compared to complete the performance verification analysis of the spacecraft orbit determination.
According to the spacecraft orbit determination method based on the Beidou inter-satellite unidirectional link, only the unidirectional link is established between the spacecraft and the Beidou satellite, only satellite signals are received, and the technical complexity of orbit determination realization and the engineering realization difficulty are reduced. On the other hand, the high orbit satellite can realize the orbit determination accuracy of hundred meters by the orbit determination accuracy of the unidirectional link construction, which is equivalent to the orbit determination accuracy performance of the bidirectional link construction.
As shown in fig. 1, according to an embodiment of the present invention, simulation analysis is performed on the orbital performance of an geostationary orbit satellite by using the spacecraft orbital measurement method based on the Beidou inter-satellite unidirectional link of the present invention. By accumulating 1 hour ranging data and accumulating two days of data, the performance of track measurement and 24 hour forecast error less than 200 meters can be realized.
The above description is only one embodiment of the present invention and is not intended to limit the present invention, and various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A spacecraft orbit determination method based on a Beidou inter-satellite unidirectional link comprises the following steps:
s1, a Beidou satellite transmits an inter-satellite link signal to a spacecraft through an inter-satellite link antenna;
s2, the spacecraft only works in a receiving mode, receives signals sent by the Beidou satellite, and calculates pseudo-range values according to the received signals;
s3, after accumulating pseudo-range values for a certain time, solving spacecraft orbit parameters;
in the step S2, the uncertainty of the time of capturing signals by the spacecraft is ±5ms, and the measurement orbit can be performed by receiving and capturing 4 or more Beidou satellite inter-satellite link signals;
in step S3, calculating a pseudo-range value according to the received signal, accumulating 1 hour of data, and then combining the accumulated data of the previous day to perform orbit calculation on orbit to obtain orbit parameters of the spacecraft;
estimating the transmitting time t of the link signal between the navigation satellites according to the spread spectrum code table tr,i The pseudorange measurements may be calculated by:
according to the three-sphere geometric intersection principle, a simultaneous equation set is obtained:
wherein, (x) i ,y i ,z i ,δt BD,i ) I=1, 2,3,4 are the positions and clock differences of 4 Beidou satellites, and are known parameters; ρ i I=1, 2,3,4 is a pseudo-range measurement value obtained by performing signal processing on the inter-satellite link receiver of the spacecraft; (x) u ,y u ,z u ,δt u ) The method is characterized in that the position and the clock difference of the spacecraft are accumulated, and the spacecraft position and the clock difference data for a period of time are converted into orbit parameters of the spacecraft through fitting.
2. The method for determining orbit of spacecraft based on inter-satellite unidirectional links according to claim 1, wherein in step S1, the Beidou satellite transmits a signal S to the spacecraft via an inter-satellite link antenna according to the planned link establishment time slot j (t)：
Wherein j represents satellite number, A represents signal amplitude, and P I Representing I branch spreading code, P Q Representing the Q branch spreading code, D I Representing the modulated data code on the I-branch, f representing the carrier frequency,
Representing the initial phase of the carrier.
3. The spacecraft orbit determination method based on the Beidou inter-satellite unidirectional link according to claim 2, wherein in step S2, the spacecraft receives and captures the Beidou inter-satellite link signals according to the planned link establishment time slot to obtain a receiving moment corresponding to a code phase:
wherein, CP is the sampling time t of the receiver in the inter-satellite ranging code re Corresponding code phase values.
4. The spacecraft orbit determination method based on the Beidou inter-satellite unidirectional link according to claim 3, further comprising the steps that the spacecraft downloads an on-satellite orbit determination solution result, an original ranging value and ranging time to a ground system, the ground system performs unidirectional orbit determination solution filtering, and the spacecraft orbit determination performance verification analysis is completed by comparing the ground solution result with the on-satellite solution result.
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| CN106338753A (en) * | 2016-09-22 | 2017-01-18 | 北京航空航天大学 | Geosynchronous orbit constellation orbit determination method based on ground station/satellite link/GNSS combined measurement |
| CN107421550A (en) * | 2017-07-25 | 2017-12-01 | 北京航空航天大学 | A kind of earth Lagrange joint constellation autonomous orbit determination methods based on H_2O maser |
| CN109946727A (en) * | 2019-03-21 | 2019-06-28 | 武汉大学 | A Network RTK Method for LEO Navigation Constellation Enhancement |
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| CN106338753A (en) * | 2016-09-22 | 2017-01-18 | 北京航空航天大学 | Geosynchronous orbit constellation orbit determination method based on ground station/satellite link/GNSS combined measurement |
| CN107421550A (en) * | 2017-07-25 | 2017-12-01 | 北京航空航天大学 | A kind of earth Lagrange joint constellation autonomous orbit determination methods based on H_2O maser |
| CN109946727A (en) * | 2019-03-21 | 2019-06-28 | 武汉大学 | A Network RTK Method for LEO Navigation Constellation Enhancement |
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