In this paper，scientific objectives and payloads configuration of international asteroid exploration missions in the past three decades were reviewed. On the basis of summarizing the main scientific questions of asteroid exploration， the selection of detection objects，scientific objectives and payloads configuration of China’s asteroid exploration project，which named Tianwen-2 mission were discussed. Focusing on the realization of scientific objectives，corresponding scientific research contents and payload technical specifications were proposed.

For the detection of lava tubes on extraterrestrial bodies, this paper utilizes LiDAR technology to conduct field surveys on lava tubes in the Shishan Volcanic Cluster area of Haikou City, which has a high degree of similarity with the Moon and Mars. It also proposes a skylight detection method based on grid division and applies a crack detection method based on data enhancement and multi-scale feature learning network to detect the internal structure of the lava tube and study its morphology. The interior of the lave tubes is scanned in all directions using a portable handheld laser scanner in the first. Based on the high-precision point cloud data obtained by measurement, this paper completes a three-dimensional model using the ContextCapture software, and some special miniature geomorphic like skylight in the tube and the tubes’ inner fissure is detected and extracted automatically. The experimental results show that the laser scanner combined with point cloud processing software and program can efficiently, intuitively and truly restore the morphology and structure of the lava tube, conduct quantitative analysis, and detect the special miniature geomorphology in the tube.

Lava tubes, formed by the flow and cooling processes of volcanic lava, have been discovered on the surface of several heavenly bodies in the solar system and have become a window into the volcanic activity and thermal history of Earth-like planets. At the same time, lava tubes have extremely important scientific and engineering applications because of their thermostatic and radiation-proof interiors, which are also natural shelters for future human exploration activities or extraterrestrial survival. In this paper, the formation mechanism, detection and identification methods of lava tubes, and the distribution of lava tubes on the surface of different heavenly bodies in the solar system were summarized, the scientific significance and application prospects of lava tube detection were discussed. It was proposed that the Earth’s lava tubes are the most important objects for planetary lava tube analogical studies and detection, and the theory and methodology of the analogical studies of lava tubes were introduced, to provide theoretical basis and simulation experimental support for future exploration of extraterrestrial lava tubes.

This paper, founded on the synthesis of recent exploration achievements and prior research, supplemented by on-site investigations of diverse terrestrial lava tubes, delves into the value and challenges associated with lunar lava tube exploration and development. Employing lunar remote sensing data and focusing on lunar lava tubes in areas such as Mare Fecunditatis and Mare Tranquillitatis, the paper formulates a collaborative exploration blueprint comprising lunar landing platforms, rovers, and autonomous robots. Furthermore, in line with the objective of utilizing natural cavities within lava tubes for potential lunar base construction, the paper scrutinizes the prerequisites and complications linked to lava tube modification and construction. It presents conceptual solutions, encompassing cave interior floor construction, communication and power infrastructure deployment, as well as residential facility establishment, providing a fundamental reference for the construction of future lunar bases.

Lava tubes are one of the prime candidates for establishing extraterrestrial bases. To verify the feasibility of using ground-penetrating radar to detect lava tubes on extraterrestrial bodies, this paper first conducted a technical study to validate the detection of lava tubes using a 400 MHz ground-penetrating radar system on the Seventy-Two Caves and Wolong Cave in the Shishan Volcanic Group in Haikou, Hainan. It is found that the upper interface of the lava tube is clearly displayed when the depth of the tube is 2 m, and the radar image shows the upper and lower boundaries when the height is less than 3 meters. Additionally, the genetic algorithm is employed to inverse the dielectric constant of the lava tube’s wall. The reliability of the genetic algorithm in calculating the dielectric constant is validated through comparison with results obtained from the depth method and sample measurement. Furthermore, the analysis of samples establishes a simple relationship between porosity and dielectric constant. These findings are of significant importance for assessing the underground spatial distribution and wall stability of the lava tubes, providing a reference for future lunar base establishment.

Based on the existing tracking and measuring conditions of China’s deep space exploration missions, the orbit determination accuracy of the DRO probe was simulated and analyzed. For the Cislunar space DRO exploration, the simulation adopted batch processing orbit determination method, selected celestial bodies centered on the Earth for orbit integration, and increased non-spherical gravitational perturbation of the moon. Under the current measurement conditions, the position and velocity accuracy of 2-day short-arc orbit determination using only range tracking data were the order of km and better than 3 cm/s respectively; for 7-day predictions, the maximum differences in the position and velocity are the order of ten kilometers and 6 cm/s respectively. When using ranging data combined with VLBI data, the position and velocity accuracy were the order of hundreds of meters and less than 0.4 cm/s respectively; for 7-day predictions, the maximum differences in the position and velocity were the order of kilometers and 2 cm/s respectively, which shows that VLBI data significantly improved the accuracy of short-arc orbit determination and prediction. Moreover, the position and velocity accuracy were better than 1 km and 1cm/s respectively when using 5-day long-arc range tracking data. For 7-day predictions, the maximum differences in the position and velocity were less than 2 km and 1cm/s respectively. This shows that an increase of ranging data significantly contributes to the accuracy of orbit determination and prediction for DRO.

This article proposed a 3D real scene modeling method for lava tubes that integrates airborne LiDAR, close-range photogrammetry, and point cloud data from GeoSLAM handheld laser scanner, with a focus on future lunar surface scientific explorations. Firstly, the entities were divided, and then entity feature extraction was performed based on semantic information. A new mesh model construction method was proposed, which uses multi-level model construction method and skeleton-plus-detail modeling method to construct the mesh model of the inner surface of the lava tube. Finally, entities were constructed separately between different layers inside the model to simulate the original state of different layers, and to measure layer thickness and volume of spallation. The 3D modeling of the lava tube located in Jingpo Lake, Heilongjiang province, shows that the 3D modeling method for lava tubes based on multi-source data fusion has high precision and high realism, providing an important reference for subsequent lunar lava tube skylight detection, Earth-Moon simulation comparison and internal exploration.

Aiming at the localization of lunar lava tubes, the volcanic lava cave in Haikou City, Hainan Province, was selected as the experimental area for simulated lunar lava. Localization methods including stereo vision-based method, laser scanning point cloud based method, vision fused IMU based method, laser point cloud fused IMU based method, and vision, laser point cloud and IMU fused method are applied to localization in the field areas of simulated lava tubes. The experimental results show that the accuracy of stereo vision could reach 3.59% in long-distance travelling mode, but the accuracy and robustness decreased significantly in harsh lighting conditions. Lidar could achieve a similar-level accuracy as vision-based method, reaching 1.89% in local area, but its robustness was affected by data acquisition rate and field of view. The integrated localization method using stereo vision, LiDAR, and IMU achieved robust localization results in lava tube areas with extremely harsh lighting and terrain undulations, making it the preferred choice for long-distance continuous localization. The research conclusions provide valuable reference for subsequent research on sensor configuration and localization methods for lunar lava exploration missions.

To meet the robust landing requirement in the exploration and exploitation of small celestial bodies，based on the landing exploration missions in China and abroad，the requirements of intelligent landing technologies were analyzed and the corresponding research progress was discussed. Firstly，the landing exploration missions for small celestial bodies were reviewed. Then，the traditional rigid landing mode and the novel intelligent flexible landing concept of small celestial bodies were introduced，and the intelligent technology requirements of small celestial body landing were sorted out. On this basis，the research progress on intelligent landing technologies was summarized from the aspects of dynamics，mission planning，perception，navigation，guidance and control. Finally，the development trend of landing technology of small celestial bodies is envisioned.

This paper reviews the recent research on the Kuiper Belt dust dynamics. Specifically, we review the related space exploration missions, introduce the origin and destruction mechanism of the Kuiper Belt dust, summarize previous studies on the modeling of the Kuiper Belt dust dynamics, and discuss the population migration mechanism as well as the contribution of Kuiper Belt dust to interplanetary dust in the inner solar system. This study helps to understand the dust environment in the solar system boundary and the interstellar space, and provide valuable insights for the orbital design of solar system boundary missions from the perspective of space environmental safety.

To meet the requirements for autonomy，rapidity，and adaptability in the collaborative planning of each subsystem during the attachment mission of a deep space probe，a collaborative planning strategy based on proximal policy optimization method and multi-agent reinforcement learning was proposed. By combining the single-agent proximal policy optimization algorithm with the hybrid collaborative mechanism of multi-agent，a multi-agent autonomous task planning model was designed. The noise-regularized advantage value ws introduced to solve the problem of overfitting in the collaborative strategy of multi-agent centralized training. Simulation results show that the multi-agent reinforcement learning collaborative autonomous task planning method can intelligently optimize the collaboration strategy of small celestial body attachment missions according to real-time environmental changes，and compared with the previous algorithm，it improves the success rate of task planning and quality of planning solutions，and shortens the time of task planning.

Given the complex and numerous morphological features during asteroid landing，which lead to challenges such as huge number of feature combinations，high computational load in online feature selection and low computational efficiency，in this paper an online multi-type feature rapid selection method was proposed. Using rapid selection criteria for multi-type features combined with search region，a method for selecting single-frame image features was established. Additionally，considering the short sampling interval，high inter-frame image overlap，and high feature inheritance probability during asteroid landing，a method for inter-frame image feature inheritance selection was proposed. Simulation experiments show that the design of single-frame image search regions and inter-frame image feature inheritance methods substantially reduces the number of feature combinations，thereby greatly enhancing the efficiency of computational and online feature selection.

Lava tunnels widely exist on planets and satellites, which can provide natural shelter for humans to land on in the future. Research on lava tunnels is of great significance. However, there are many challenges in extraterrestrial lava tunnel detection. Existing terrestrial lava tunnel detection schemes have devices that are not portable, with low levels of automation and work efficiency, and cannot be directly applied to the detection of extraterrestrial lava tunnels. To address the above problems, this paper proposes a 3D detection method for extraterrestrial lava tunnels based on the lightweight mobile measurement system, achieving efficient and detailed mapping as well as 3D morphology of lava tunnels, and carries out the verification in Earth lava tunnels. First, laser scanning is used to obtain the point cloud in the lava tunnel efficiently, and the 3D point cloud map of the tunnel is generated based on the iterative Kalman filtering algorithm. Subsequently, through point cloud processing methods such as ground filtering, tunnel wall extraction, and normal vector estimation, the 3D reconstruction of lava tunnels is achieved, followed by morphological analysis. This paper selects the Xianren Cave and Qishier Cave in Haikou, Hainan Province, as simulation scenarios for extraterrestrial lava tunnels to conduct experiments. Experiments indicate that the proposed method realizes real-time autonomous 3D mapping of lava tunnels. The generated point cloud maps and 3D models are more accurate and contain more detailed terrain information compared to existing research results. These indicate the proposed method better meets the morphological analysis needs of lava tunnels and provides a foundation for the in-depth study of extraterrestrial lava tunnels.

In this paper, a helical groove conical composite horn structure with multi-point drive rotation was proposed. A high-performance ultrasonic driller suitable for drilling in the inner wall of lava tubes was developed. An equivalent impedance network model was used to model and analyze the ultrasonic driller to predict the response characteristics of ultrasonic driller. The possibility of this drilling probe in applying complex ground conditions of lava tubes was verified through low gravity multi-angle simulated drilling tests and data analysis. The results show that the drilling rate increases with the increase of the hole’s opening angle for a drill rod diameter of 3 mm and a drilling pressure of 10 N. The maximum unloaded rotary speed of the driller is 506 rad/min，the drilling rate is 6.4 mm/min for vertical drilling，and the rotary speed while drilling is 259 rad/min.

Flexible landing is a new way to prevent rebound and overturning in weak gravity environments of small celestial bodies and improve landing safety on these bodies. To realize obstacle avoidance of the flexible lander during the landing process，an adaptive curvature guidance method combined with convex programming and the concept of virtual safety boundary was proposed. Based on the geometric convex trajectory obtained through curvature guidance，a virtual safety boundary related to the structural characteristics of the flexible lander was constructed. The shape of the boundary was adaptively adjusted according to terrain obstacle information，and the optimal obstacle avoidance trajectory was solved via successive convex programming technique. The result of numerical simulation shows that the method proposed in this paper possesses satisfactory obstacle avoidance capability for the flexible landing mission in complex terrain conditions，which further improves the landing safety on small celestial bodies.

In view of the disturbance of the frequent Wheel Off-Loading(WOL) of Tianwen-1, firstly, this paper analysed the perturbation magnitude of WOL and the effect on the orbit in its relay and remote sensing orbits. Secondly, a uniform acceleration model in RTN coordinate system was established to describe the acceleration produced by WOL events, several strategies were proposed to analyze the orbit of the relay and remote sensing orbit respectively, and finally orbital accuracy was assessed by overlap comparison. The results show that WOL events are the main error, affecting orbital accuracy. The position accuracy of the relay orbit is about 150 m, and in the remote sensing orbit where the unloading events are more frequent, the position accuracy decreases to 700 m.

A method for attitude-orbit coupling intelligent control of flexible lander based on maximum entropy reinforcement learning is proposed in this paper，aiming at solve the adverse effects of the complex perturbation environment and the inaccurate flexible deformation force. Firstly，the orbital dynamics model of the equivalent agent is established by introducing the internal flexible force of the lander. The datum plane method is used to characterize the attitude of the flexible lander with complex deformation. The attitude-orbit coupling dynamic environment of the lander is constructed to train the intelligent controller. Then，an intelligent controller with deep neural network architecture is designed according to the soft actor-critic（SAC）algorithm of maximum entropy reinforcement learning theory. Each thruster can keep the lander attitude stable and track the navigation trajectory with high precision by self-adapting the output thrust. Finally，the landing process with the controller deployed is simulated. The simulation results show that compared with the classic PD control method，the intelligent control method proposed in this paper has stronger robustness.

In order to solve the problem of attitude maneuvering control and attitude planning for the flexible probe under multiple constraints in the asteroid flexible attachment scenario，in this paper, a goal-oriented attitude planning method for an asteroid-attached flexible probe was proposed. By constructing a node-plane coupling dynamic model, the attitude description and dynamic constraint characterization of the flexible three-node probe were realized. A local optimization expansion strategy was designed to improve the RRT algorithm. The optimization objective was to shorten the distance to the target attitude. The quadratic programming problem was constructed by combining with the attitude dynamics model of the flexible body to enhance the purpose of maneuvering along the attitude path. The simulation results show that compared with the traditional heuristic planning method, the proposed method takes less time to calculate, optimizes the attitude maneuver path length, and can meet the attitude maneuver requirements during the flexible landing process of the asteroid probe. It provides support for the implementation of the small body project.

To address the issue of non-uniform constraints in the cooperative descent trajectory planning of the novel multi-node flexible lander, a distributed optimization method based on control barrier functions is proposed. This method requires only relative distance information between nodes to solve the conflict-free descent trajectories for each node. The effectiveness of the proposed method is demonstrated through simulations of two typical scenarios of cooperative descent of the multi-node flexible lander. This approach offers a new perspective for addressing the non-uniform constraints problem of the multi-node flexible lander.

In the process of small body attachment detection，due to the limitation of computational resources，it is difficult for the sequence image autonomous relative navigation system to process a large amount of optical image information. In this paper，a relative navigation observation sequence planning method is proposed，and an observable measurement index describing the observation accuracy of the landmark is established based on the Fisher information matrix，which is used as an index to design the observation strategy for the preferred selection of the key observation moments. In order to verify the validity of the relative navigation method，a small body attachment experiment platform is constructed，and the 6-degree-of-freedom attachment motion simulation of the lander is realized by pulling the load platform with 8 ropes in parallel. Finally，a visible light camera is mounted on the experimental platform to realize the semi-physical simulation of the relative navigation of small body attachment，which greatly reduces the computational burden of the navigation system while providing high-precision relative navigation. It will provide reference for the asteorid project in the future.

Aiming at the possible inaccuracy of the prior pose during the visual navigation of an asteroid landing，a feature tracking aided pose estimation method is proposed. First，the generation of navigation features relies on pre-existing pose information and a database of navigation features. Subsequently，a multi-feature discriminative correlation filter (DCF) is employed to track the position of the navigation features in the navigation camera images by combining handcrafted and depth features. The average peak correlation energy (APCE) is subsequently employed to effectively screen dependable tracking outcomes for the initial estimation of the pose. Finally，the navigation features are recalculated using the initial estimation of the pose and adjusted to match with the navigation camera image by using normalized correlation coefficients (NCC). The proposed methodology involves the integration of the process within a differentiable Levenberg-Marquardt (LM) framework， specifically designed for pose optimization. This framework incorporates constraints based on the NCC. Experimental results， utilizing images，terrain, and ephemeris data obtained from the Osiris mission，demonstrate that the proposed method's pose estimation exhibits reprojection errors within the sub-pixel range. At 1 km from the asteroid surface，the position estimation error is within 2 m and the attitude estimation error is within 1°.

Search for life on Mars requires an understanding of the evolution history of Mars geological environment and its impact on the formation and preservation of life. In this paper, the latest research achievements in the history of Mars geological evolution were summarized, the history and progress of life exploration on Mars were reviewed, and shows that there was once a large amount of liquid water activity on the surface of Mars, groundwater and hot spring activities are also present. There are a variety of hydrogenic landforms and minerals, with the necessary elements to form life. The search for traces of life on Mars should focus on areas of long-term water activity, including ancient oceans, lakes, deltas, groundwater and hydrothermal activity regions, as well as cave interiors that could provide habitable environments. The present Martian environment is very harsh for the formation and preservation of life . The surface of Mars is subjected to intense radiation and the future exploration of life on Mars should pay attention to the deep sedimentary strata and caves. The microbial population on Mars may be scarce; collecting samples from right sites and bringing them to Earth and using the-state-of-art technology on Earth to search for possible traces of life on Mars is the best option.

Recognition and classification of Mars analog terrain aim to simulate and study the Mars environment by analyzing Mars analog terrain images，which holds significant research value for exploring scientific questions such as formation，evolution，and potential habitability of Mars. In response to the challenge of balancing classification performance and model lightweighting in current Mars terrain classification algorithms，a lightweight，rapid recognition and classification method for Mars analog terrain is proposed (LWNet). This algorithm constructs a dual-branch teacher-student network，employs knowledge distillation to reduce the number of parameters and computational load of the model，and integrates attention mechanism to enhance the capability of terrain classification and recognition，achieving high accuracy and lightweight classification models. To verify the classification performance of the proposed method，a dataset of Mars analog terrain on Earth was established，including four typical Mars landforms: cliff，desert，channel，and yardang，with each type of terrain consisting of 800 images. The dataset was employed to conduct rapid recognition and classification experiments with LWNet. The results indicate the overall accuracy reaches 97.81%，which only decreases by 1.25% compared with Swin-Transformer，while its Parameters and FLOPs are only 1.3% and 4.8% of Swin-Transformer，respectively. Experimental results verify the effectiveness and superiority of the LWNet.

In order to understand the SAR imaging characteristics of the lunar surface and assist in the design of SAR imaging observation systems around the moon using existing data，a simulation scheme for lunar surface SAR images based on lunar topographic data is proposed. In this scheme，given the circumlunar trajectory and baseline parameters，the corresponding off-nadir angles are calculated based on the existing lunar Digital Elevation Model (DEM) data and the set SAR imaging parameters. The local incidence angles for each point on the lunar surface are then calculated，and the simulation is performed based on the RD model and interferometric height measurement principle，using the set backscattering coefficients. This process generates simulated SAR amplitude images and interferometric phases. The effectiveness of the simulation scheme was verified by simulating lunar surface SAR images under different baseline conditions using the LOLA DEM with a grid spacing of 118m.

The visible quantity and time of GNSS (Global Navigation Satellite System) satellite signal in lunar orbit is an important factor for lunar probe to use GNSS to realize auxiliary navigation. To deal with the problems that the number of GNSS satellites visible by lunar orbiting satellites and lunar surface detectors is not clear and the comparative analysis is insufficient, this paper selected the lunar elliptical frozen orbit (ELFO), the Peter region of the moon and the Shackleton region of the south pole of the moon as analysis targets, analyzed and statistically analyzed the number and duration of visible GNSS satellites under different ELFOs, lunar surface conditions, and lunar South Pole relay conditions. Simulation results reveal that, in the Peter region, minor surface movements have minimal impact on the number of signals received by Beidou satellites; and at Shackleton, the South Pole’s ELFO-Satellite 3 orbit supports visibility of up to four Beidou and GPS satellite signals during positioning activities. The ELFO-Satellite 3 orbit demonstrates the highest GNSS signal reception within its operational cycle, offering substantial potential for lunar navigation. These findings provide valuable insights for China’s “Magpie Bridge” Navigation Remote Constellation System and future lunar probes, especially in leveraging GNSS satellite signals for navigation and positioning on the lunar surface and in lunar South Pole regions.

The large number of variables for Venus-Mercury exploration trajectory design results in the difficulty to find the global optimum. Therefore, a segmented optimization method was proposed. Firstly, the Venus-Mercury transfer window was searched to reduce the cost for Venus capture and Mercury capture. Then, the Earth-Venus transfer trajectory with Venus gravity assists was optimized, and the launch window was obtained. Finally, the Venus/Mercury capture trajectory with successive Venus/Mercury gravity assists was optimized. Based on V∞-leveraging maneuver principle, an optimization index of leveraging maneuver efficiency was proposed. The trajectory after each gravity assist was optimized separately so that the velocity increment for Venus/Mercury capture was reduced steadily. The simulation results reveal that the velocity increment for the Earth-Venus transfer segment and the Venus-Mercury transfer segment could be zero when 2 Venus gravity assists were executed. The velocity increment for Venus capture could be reduced by 1.4 km/s when 2 or 3 Venus gravity assists and V∞-leveraging maneuvers were executed. The velocity increment for Mercury capture could be reduced by 2.3 km/s when 4 Mercury gravity assists and V∞-leveraging maneuvers were executed. Compared with trajectory optimization for Mercury exploration, the proposed method can reduce the overall velocity increment for Venus-Mercury exploration by constraining the V∞ for departing from Venus and arriving at Mercury.

In response to the development trend of large-scale, complex, and intelligent space missions, this paper addressed the trajectory optimization challenges faced in space target cooperative exploration missions by reviewing the principal technological methods of spacecraft trajectory optimization. These methods include the current state of research and advancements in optimal control methods, intelligent optimization methods, and machine learning approaches. Based on this, the paper further explored trajectory optimization scenarios, mission design issues, and optimization characteristics represented by space debris removal, Earth observation satellites, small body exploration, and in-orbit servicing. Finally, the paper discussed the existing research challenges and anticipated the design requirements for trajectory optimization, aiming to provide new technological perspectives and solutions for future complex space missions.

This study focuses on the Pakistan ICUBE-Q CubeSat carried by the Chang’E-6 mission，systematically analyzing its orbital characteristics，dynamic environment，and measurement methods，with particular emphasis on the primary perturbative factors affecting its orbital variations. In the absence of range and Very Long Baseline Interferometry (VLBI) support，a three-way Doppler velocity measurement model was proposed for orbit determination，and the velocity measurement errors were thoroughly analyzed. Additionally，an orbit determination strategy suitable for sparse observation modes was designed，and error assessment was conducted. Furthermore，a detailed analysis of the long-term orbital evolution of the CubeSat was performed. The results indicate that the Root Mean Square (RMS) of the three-way Doppler velocity residuals was 2 mm/s，and the orbit determination accuracy achieved a position precision better than 1 km. The CubeSat’s orbit was primarily influenced by lunar non-spherical gravitational perturbations and Earth’s point-mass gravity，with three-body gravitational effects playing a significant role in its orbital evolution. Orbital evolution predictions reveal that the CubeSat’s perilune distance is expected to decrease to less than the lunar radius by April 2025. This study provides valuable insights into orbit determination and evolution analysis for microsatellites in deep space exploration missions.

The orbital dynamics of dust particles ejected from the surface of 162173 Ryugu and escaping into interplanetary space within 1 000 years, mean motion resonance of dust particles with Earth and close encounters between dust particles and Earth were analyzed using direct numerical simulations. The effects of non-gravitational perturbations (solar radiation pressure, Poynting-Robertson drag and solar wind drag) on the long-term orbital evolution of dust particles were investigated. In the spatial region where dust particles move, the evolution of the semi-major axis, eccentricity and orbital inclination of the dust particles in the 3:4 and 4:5 mean motion resonances with the Earth were analyzed. That is, the semi-major axis of the dust particles showed periodic oscillations, the eccentricity showed periodic changes and slightly increased, and the orbital inclination showed a periodic downward trend. The number of close encounters between dust particles and the Earth was counted and analyzed. It is found that the number of close encounters reaches a maximum value within a period of 400 to 500 years, and the dust particles will not collide with the Earth within 1 000 years.

The modeling and application of satellite to ground and Inter satellite link ranging was studied in this paper. Firstly, based on the measurement principle, the observation modeling method for one-way measurement was derived in detail under the reference frame in general relativity. Secondly, the method of clock error elimination and clock error estimation were given through the summation combination and difference combination. Thirdly, according to the characteristics of the summation combination observation model, the calculation formula for the difference between the proper time and the coordinate time was derived, and a specific algorithm implementation was provided. Finally, the influence of relativistic effects on one-way measurement modeling was analyzed using typical orbital examples. The results show that the difference between the Earth-Moon space position conversion caused by the relativistic effect is on the order of 10 meters, and the difference between the proper time and the coordinate time changes by tens of microseconds per day, which is a factor that must be considered in high-precision navigation modeling, and the modeling algorithm proposed in this paper can serve the application of high-precision navigation in cis-lunar space.