Orbit/covariance estimation and analysis (OCEAN) determination for satellites

• US 6,085,128 A
• Filed: 02/02/1999
• Issued: 07/04/2000
• Est. Priority Date: 02/06/1998
• Status: Expired due to Fees

• Current Assignee: the united states of america as represented by the secretary of the navy
• Original Assignee: the united states of america as represented by the secretary of the navy
• Inventors: Middour, Jay W., Melvin, Peter J., Pickard, Henry M., Binning, Patrick W., Dasenbrock, Robert R., Soyka, Mark T.
• Primary Examiner(s): Zanelli, Michael J.
• Application Number:
  US09/241,392
• Time in Patent Office: 518 Days
• Field of Search: 701/13, 701/226, 701/213, 701/214, 342/357, 342/357.12, 342/357.13, 342/357.15
• US Class Current: 701/13
• CPC Class Codes: B64G 1/242 Orbits and trajectories
• CPC Class Codes: B64G 3/00 Observing or tracking cosmonautic vehicles
• CPC Class Codes: G01S 11/10 using Doppler effect
• CPC Class Codes: G01S 5/02695 Constraining the position to lie on a curve or surface
• CPC Class Codes: H04B 7/18519 Operations control, administration or maintenance

Abstract

The orbit/covariance estimation and analysis (OCEAN) technique utilizes ground station observations collected from satellites passing overhead and estimates the positions, velocities, and other parameters of multiple satellites. It also estimates parameters for other elements, such as the locations of ground stations and measurement biases. The technique utilizes recorded observations (e.g., range, Doppler) and measurements from various sources as inputs to a weighted least squares batch estimation algorithm used in iterative fashion to estimate each parameter, with or without a priori knowledge of the errors involved with each observed parameter. The process is completed once the residual, the difference between the estimated parameter and the observed parameter, satisfies the tolerance defined by the user. Using the results of the estimation process or a predefined initial condition file, the OCEAN program can also generate a predicted trajectory (i.e., ephemeris) for the satellite(s) from a specified initial time to a final time. The resulting epheremerides can be output in a predefined file format chosen by the user.

Claims

1. A system for estimating the position, velocity and other parameters of each orbital body of a plurality of orbital bodies comprising:

means for receiving emissions from each orbital body of the plurality of orbital bodies;

means for computing an estimated position, velocity, and other parameters of each orbital body of the plurality of orbital bodies, simultaneously; and

means for displaying the estimated position, velocity, and other parameters of the each orbital body of the plurality of orbital bodies.

2. A system, as in claim 1, further comprising a means for storing information on the estimated position, velocity, and other parameters of each orbital body of the plurality of orbital bodies.

3. A system, as in claim 1, wherein the means for computing an estimated position, velocity, and other parameters of each orbital body of the plurality of orbital bodies, simultaneously, is a computer.

4. A system, as in claim 1, wherein the means displaying the estimated position, velocity, and other parameters of each orbital body of the plurality of orbital bodies is an x-y plotter.

5. A system, as in claim 1, wherein the means displaying the estimated position, velocity, and other parameters of each orbital body of the plurality of orbital bodies is visual display.

6. A system, as in claim 1, wherein the means displaying the estimated position, velocity, and other parameters of each orbital body of the plurality of orbital bodies is a printer.

7. A system, as in claim 1, wherein the emissions received are electromagnetic.

8. A system, as in claim 1, wherein the emissions received are optical.

9. A system for estimating the position, velocity and other parameters of each orbital body of a plurality of orbital bodies comprising:

means for receiving emissions from at least one orbital body;

means for computing an estimated position, velocity and other parameters for each orbital body of the plurality of orbital bodies, ground stations, and biases for multiple measurement types, simultaneously;

means for automatically resizing the maximum number of orbital bodies, when compiling a computer source code without the need for re-coding the computer source code;

means for adding new measurement types and state parameters to the computer source code; and

means for displaying the estimated position, velocity, and other parameters of each orbital body of the plurality of orbital bodies, ground stations, and measurement types.

10. A system, as in claim 9, wherein the means for automatically resizing a problem when compiling a computer source code without the need for re-coding the computer source code is comprised of:

a set of parameters to set global limits on allowable numbers of orbital bodies, ground stations, measurement types, and parameters to estimate; and

selection of an index array to form an overall system state and a collapsed state comprised of an estimate of parameters of collapsed covariance and collapsed state transition matrices.

11. A system, as in claim 9, wherein the means for adding new measurement types and state parameters is comprised of pointer arrays for orbital body sub-states, ground stations sub-states, and measurement bias sub-states.

12. A system, as in claim 9, wherein the means for computing an estimated position, velocity and other parameters for each orbital body of the plurality of orbital bodies, ground stations, and measurement types simultaneously is a computer.

13. A computer implemented process for estimating the position, velocity and other parameters of each orbital body of a plurality of orbital bodies comprising:

provide an initial condition file to store the orbital bodies position, velocity and other parameters;

provide a site-specific installation file for directory and naming of information for external files;

select of a processing mode of the system;

determine by a weighted least squares batch estimation process the bodies orbit through estimating the orbital bodies position, velocity and other parameters using electromagnetic and optical emissions of the orbital bodies and ground stations;

configure of process parameters using a set of key words found in a data base file and override files;

identify for each parameter a source from which to obtain the parameters value;

read an a priori initial condition file to obtain an initial guess of each orbital body'"'"'s state vector and covariance;

read in an observation file;

analyze the observation file;

read in an estimation configuration file to determine which parameters are to be estimated or held fixed;

create a problem state and index array to collapse states and matrices;

set up pointer arrays to locate relevant information;

read in covariance override file to change any desired covariance terms recovered from the initial condition file;

process, sequentially, observations in the observation file;

configure process parameters using a set of key words found in a data base and the override files;

create a post priori initial condition file at the estimation time;

produce an ephemeris file;

configure process parameters using a set of key words found in data base and override files;

read in by a create initial file process initial orbital body states in terms of mean orbital elements, and osculating Cartesian coordinates; and

create an a priori initial condition file compatible with the foregoing processes for orbit determination and prediction.

14. A process, as in claim 13, wherein the site-specific installation file for directory and naming of information for external files are comprised of database and override files, solar flux data files;

leap second data file, and Earth orientation data file.

15. A process, as in claim 13, wherein the site-specific installation file for directory includes a data base file, override files, solar flux data file, leap second data file, and Earth orientation data file.

16. A process, as in claim 13, wherein the process parameter to be identified consists of an internal default, data base file, override file, initial condition file, and external file.

17. A process, as in claim 13, wherein the information read in and analyzed in the observation file is comprised of:

observations present, orbital bodies present, ground stations present; and

number of tracking passes by the orbital body, ground station, and orbital body- ground station combination.

18. A process, as in claim 13, wherein the element of sequential processing of observations in the observation file is comprised of:

find a time and type of each measurement along with the orbital bodies and ground stations involved in making the measurement;

propagate the relevant orbital bodies to a time of measurement, starting with an initial guess of orbital body states;

predict what observation should be have been made using an appropriate measurement model;

determine type of bias to apply and correct theoretical measurement using pointer arrays;

compute the differential error between the observation and theoretical values;

accept or discard the difference measurement based on editing criteria defined by the data base file and override files;

compute sensitivity matrix of the initial condition to the error;

collapse the sensitivity matrix using index arrays;

update weighted least squares batch equations with the product of the sensitivity matrix and the error, continue for all observations in the observation file;

invert weighted least squares batch equations to obtain an improved estimate of the initial state;

update statistics of observation errors;

repeat the sensitivity computation over all states using an updated statistics of the observation errors;

repeat the update computation for the state, terminate this process when the magnitude of the update is less than a value defined in the data base files and override files;

produce a post priori initial condition file with improved estimate of initial orbital body states and their covariance;

produce an ephemeris file with start time, stop time, and granularity defined by the data base file and override;

produce a covariance file with start time, stop time, and granularity defined by the data base file and override;

produce detailed processing output file including a full configuration for the current problem, and for each iteration of the sensitivity computation, value of the state update, observation statistics by orbital body, station, and orbital body-station pair, and updated ending criteria; and

create a measurement model bias report including the estimate value and covariance for every model bias estimated, and difference simulation biases containing common orbital body and ground stations.

19. A method for estimating the position, velocity, and other parameters of each orbital body of a plurality of orbital bodies comprising the steps:

receiving emissions from each orbital body of the plurality of orbital bodies;

computing an estimated position, velocity, and other parameters of each orbital body of the plurality of orbital bodies, simultaneously; and

displaying the estimated position, velocity, and other parameters of each orbital body of the plurality of orbital bodies.

20. A computer implemented process which allows independent configuration of program elements comprising:

setting orbit determination and orbit prediction program parameters separately in a first database; and

allowing program parameter values to be retrieved independently from default values, standard files, override files, and external sources from a second database.

21. A method for automatically resizing a problem at a beginning of execution of a computer implemented process without the need for re-coding a computer program comprising the steps of:

setting global limits on allowable numbers of ground stations, orbital bodies, measurement types, and parameters to estimate by the use of a set of parameters;

selecting an index array indicating which states are to be held fixed or estimated; and

applying the index array to form an overall system state and a collapsed state consisting of the estimate parameters.

22. A method for estimating the position, velocity, and other parameters of each orbital body of a plurality of orbital bodies comprising the steps of:

receiving emissions from at least one orbital body;

computing an estimated position, velocity and other parameters for rich orbital body of the plurality of orbital bodies, ground stations, and measurement types, simultaneously;

resizing, automatically, a problem when compiling a computer source code without the need for re-coding the computer source code;

adding new measurement types and state parameters; and

displaying the estimated position, velocity, and other parameters of each orbital body of the plurality of orbital bodies, ground stations, and measurement types.

23. A method for determining the position, velocity and other parameters of each orbital body of a plurality of orbital bodies comprising the steps of:

reading a site-specific installation file for directory and naming of information for external files;

selecting a processing mode of the system;

determining an orbital body'"'"'s orbit by a weighted least squares batch estimation;

configuring process parameters using a set of key words found in a data base file and override files;

identifying for each parameter a source from which to obtain the parameter'"'"'s value;

reading an initial condition file to obtain an initial, estimation of each orbital body of the plurality of orbital bodies state vector and covariance;

reading in an observation file;

analyzing the observation file;

reading in an estimation configuration file to determine which parameters are to be estimated or hold fixed;

creating a problem state and index array to collapse states and matrices;

setting up pointer arrays to locate relevant information;

reading in covariance override file to change any desired covariance terms recovered from the initial condition file;

processing, sequentially, observations in the observation file;

configuring process parameters using a set of key words found in a data base and the override files;

creating an initial condition file;

reading in the initial condition file to obtain an initial estimation of each orbital body of the plurality of orbital bodies state vectors and covariance;

producing an ephemeris file;

configuring process parameters using a set of key words found in data base and override files;

reading in initial orbital body state in terms of mean orbital elements, or osculating Cartesian coordinates; and

creating an initial condition file compatible with the foregoing processes for orbit determination and prediction.