Autonomous dimensionality reduction navigation method for deep sky object (DSO) landing detector

An autonomous navigation and detector technology, applied in the direction of integrated navigators, etc., can solve problems such as divergence, low visibility of orbital parameters, and estimation accuracy of key navigation parameters that affect the stability of autonomous navigation algorithms

Active Publication Date: 2011-07-06
BEIJING INST OF CONTROL ENG
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Problems solved by technology

For this navigation method, although all orbital parameters are observable, due to the low observability of some orbital parameters (except the radial two-dimensional position), under the influence of navigation model error and measurement noise

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  • Autonomous dimensionality reduction navigation method for deep sky object (DSO) landing detector
  • Autonomous dimensionality reduction navigation method for deep sky object (DSO) landing detector
  • Autonomous dimensionality reduction navigation method for deep sky object (DSO) landing detector

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Embodiment Construction

[0039] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0040] A dimension-reduction autonomous navigation method for landing a deep-space celestial probe, which comprises the following steps:

[0041] (1) The attitude angular velocity ω measured by the gyro and the velocity increment Δv measured by the accelerometer b and the initial value of the orbit, determine the attitude q and position r of the detector relative to the inertial coordinate system at the current moment I and velocity v I initial value

[0042] Use the gyroscope on the detector to measure the attitude angular velocity ω of the detector, according to the previous moment t 0 The detector inertia attitude four elements q=[q 1q 2 q 3 q 4 ] T , the four elements of the initial inertial attitude are determined by the star sensor measurement before the landing process, and the attitude transformation matrix between the detect...

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Abstract

The invention belongs to the technical fields of guidance, navigation and control of a deep sky object (DSO) detector, and particularly discloses an autonomous dimensionality reduction navigation method for a DSO landing detector. The method comprises the following steps of: determining the attitude, position and initial speed value of the detector relative to an inertial coordinate system at the current time; determining the distance of the detector relative to the center of the DSO; determining the three-dimensional (3D) speed of the detector relative to the inertial coordinate system; constructing the state quantity, state equation, observed quantity, observation equation and measurement noise variance matrix of a navigation system; carrying out non-dimensionalization on the measurement noise variance matrix, and determining observability; processing the measurement noise variance matrix, the observation equation, the observed quantity and an observation matrix by a decomposition transformation method; and determining the distance and speed of the detector relative to the center of the DSO by utilizing extended Kalman filtering (EKF) based on UD covariance factorization. By means of the method disclosed by the invention, the stability of autonomous navigation filtering can be ensured, and the convergence speed and estimation accuracy of key navigation parameters can be improved.

Description

technical field [0001] The invention belongs to the technical field of guidance, navigation and control of deep-space probes, and in particular relates to a dimension-reducing autonomous navigation method for landing a deep-space celestial body probe. Background technique [0002] Due to the long distance between deep-space celestial bodies and the earth, it is difficult for ground-based deep space network-based navigation to meet the real-time and precision requirements of the deep-space landing GNC system for detector status. Therefore, autonomous navigation has become a safe and accurate way to land deep A key technology for space probes. The general method used for autonomous navigation of deep-space landing probes is: the altitude obtained by the rangefinder and the velocity of the system obtained by the speedometer are used as observations, and the position and velocity errors of inertial navigation are corrected by using the extended Kalman filter. For this navigatio...

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Application Information

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IPC IPC(8): G01C21/24
Inventor 王大轶黄翔宇
Owner BEIJING INST OF CONTROL ENG
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