A Surround Segment Navigation Method Based on Celestial Surface Features and Natural Satellite Landmarks
A surface feature, natural technology, applied in the direction of integrated navigator, etc., can solve problems such as difficulties, achieve the effect of reducing difficulties, increasing types, and reducing the need for prior knowledge
Active Publication Date: 2015-08-19
BEIJING INST OF CONTROL ENG
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In addition, due to the movement of the target celestial body relative to the sun, coupled with the limitation of the probe's flight orbit and the influence of the weather conditions of the target celestial body, the number of landmarks on the surface of the celestial body to be selected will be further reduced, which greatly increases the difficulty of this method.
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[0023] The probe runs in a large elliptical orbit around the target deep-sky object, and the probe is equipped with an IMU (including gyroscope and accelerometer), a star sensor and an optical navigation camera.
[0024] Such as figure 1 As shown, the specific calculation process of the present invention is as follows:
[0025] The first step is to estimate the attitude of the detector with gyro + star sensitivity
[0026] (1) Gyro measurement
[0027] Let the current moment be t k , the last sampling time is t k-1 , then the gyroscope can be obtained in [t k-1 , t k ] The detector angle increment Δg in the time period b , the superscript b represents the body coordinate system of the detector (O b -X b Y b Z b ), the coordinate system is fixedly connected to the detector, the origin coincides with the center of mass of the detector, and the three axes are parallel to the main axis of inertia of the detector.
[0028] Divide the angular increment by the sampling tim...
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The invention discloses a surrounding road navigation method based on a celestial body surface feature and a natural satellite road sign. The surrounding road navigation method comprises the following steps of: in a navigation process, performing inertial attitude estimation by a gyro and a star sensor; extrapolating a position and speed of a detector by a kinetic equation according to measurement of an accelerometer and an inertial attitude estimated value; then shooting a plurality of road signs by a navigation camera according to a certain distance and a sequence, and identifying image coordinates of road sign points, wherein known landscapes of the surface of a deep celestial body and natural satellites of the celestial body are in the selectable range of the road sign points, and making an observation sequence according to different rail heights and illumination conditions; estimating and correcting the position and the speed of the detector by expanded Kalman filtering by taking the image coordinates of the road sign points as the measurement based on the extrapolated position and the speed of the detector; and repeating the steps, thus finishing navigation calculation. By the surrounding road navigation method, the range of selecting the road sign points of optical navigation of a surrounding road is expanded; and the flexibility and the precision of a navigation system are improved.
Description
technical field [0001] The invention relates to a navigation method based on celestial body surface characteristics and natural satellite landmarks, and belongs to the field of deep space exploration autonomous navigation. Background technique [0002] Surrounding detection of deep space objects is an important means of long-term, approaching and comprehensive observation of target objects. Due to the limitation of the total amount of propellant carried, after the deep space object probe reaches the target celestial body through interplanetary flight, it cannot directly brake and enter a circular orbit around the target celestial body, but runs on a large elliptical orbit. Since the large elliptical orbit is complicated by the perturbation of celestial bodies, the orbit determination (navigation) of the probe has become an important technology for deep space circumnavigation. [0003] So far, the determination of the orbits of foreign deep space large objects around the det...
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IPC IPC(8): G01C21/24
Inventor 李骥王大轶黄翔宇李茂登褚永辉
Owner BEIJING INST OF CONTROL ENG