Optical and pulsar fusion type self-navigating method based on observability analysis

A pulsar and optical technology, applied in the field of satellite navigation, can solve problems such as the inability to directly provide high-precision navigation information, and achieve the effect of improving navigation accuracy and performance

Active Publication Date: 2013-04-03
BEIJING INST OF CONTROL ENG
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Problems solved by technology

Autonomous navigation based on pulsar information can obtain complete and high-precision navigation data such as position, attitude,

Method used

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  • Optical and pulsar fusion type self-navigating method based on observability analysis
  • Optical and pulsar fusion type self-navigating method based on observability analysis
  • Optical and pulsar fusion type self-navigating method based on observability analysis

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Embodiment Construction

[0023] Such as figure 1 As shown, an autonomous navigation method of optics and pulsar fusion based on observability analysis, the steps are as follows:

[0024] (1) Install an optical sensor and a pulsar sensor on the detector, which are used to measure the line-of-sight direction of a single asteroid and the time when the pulse reaches the detector;

[0025] (2) Based on the optical navigation system of a single asteroid line-of-sight direction, the observation equation of optical navigation is established:

[0026] b ~ = Ar + v ,

[0027] in is the line-of-sight direction vector of the asteroid measured by the sensor; is the projection of the asteroid line-of-sight direction vector in the inertial system; R a , R are the position vector of the asteroid and the position vector of the detector; A is the attitude matrix from the inertial system to the sensor coordinate system;...

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Abstract

The invention provides an optical and pulsar fusion type self-navigating method based on observability analysis. The optical and pulsar fusion type self-navigating method comprises the following steps of firstly, mounting an optical sensor and a pulsar sensor on a detector to respectively detect a gazing direction of a single asteroid and time that pulse reaches the detector; secondly, respectively establishing an observation equation of optical navigation and an observation equation of pulsar navigation, and combining the observation equations to be an observation equation of a fusion navigation system; and finally, selecting an asteroid capable of being detected and a pulsar as measurement navigational stars, and calculating a navigation position and a navigation speed by using standard Kalman filtering.

Description

technical field [0001] The invention belongs to the field of satellite navigation and relates to a method for combining optical navigation and pulsar navigation based on observability analysis. Background technique [0002] Compared with earth satellites and spaceships, interstellar spaceflight spacecraft have long flight distances, long running times, and relatively unknown environments, which have higher requirements for real-time, precision, and reliability of navigation and control systems. Traditional navigation and control methods based on ground measurement and control networks are limited by accuracy, transmission time, operating costs, and observable arcs. It has become increasingly difficult to meet the needs of increasing and longer-distance deep space exploration missions. Therefore, the autonomous navigation and control technology of deep space spacecraft has gradually received attention and has become a research hotspot. [0003] At present, the mainstream aut...

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Application Information

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IPC IPC(8): G01C21/24
Inventor 王大轶李茂登黄翔宇褚永辉张晓文
Owner BEIJING INST OF CONTROL ENG
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