Mars acquisition phase optical autonomous navigation semi-physical simulation method and system

A semi-physical simulation and autonomous navigation technology, which is applied in the direction of integrated navigator, general control system, control/regulation system, etc., can solve the problems of using optical autonomous navigation and not conducting Mars exploration, etc.

Inactive Publication Date: 2015-03-18
SHANGHAI XINYUE METER FACTORY
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  • Claims
  • Application Information

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Problems solved by technology

[0006] Optical navigation is currently the preferred method for autonomous navigation in deep space exploration. H...

Method used

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  • Mars acquisition phase optical autonomous navigation semi-physical simulation method and system
  • Mars acquisition phase optical autonomous navigation semi-physical simulation method and system
  • Mars acquisition phase optical autonomous navigation semi-physical simulation method and system

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Embodiment 1

[0085] Such asfigure 1 As shown, the present invention provides a semi-physical simulation method for optical autonomous navigation of the Mars capture section, including steps S1 to S8.

[0086] Step S1, the orbit generator module obtains the theoretical position and theoretical speed of the Mars rover in the Mars J2000 coordinate system; specifically, considering the influence of various gravitational forces on the Mars rover, the orbit generator module can provide the theoretical position of the Mars rover And theoretical speed and other information, so that according to the attitude of the Mars rover, the three-dimensional simulation image of Mars can be displayed from the perspective of the Mars rover. In the three-body model of the sun-Mars-probe, the radius of the gravitational range of Mars can be calculated according to the following formula:

[0087]

[0088] In the above formula, Indicates the mass ratio of Mars to the Sun, Indicates the average distance betw...

Embodiment 2

[0126] Such as Figure 5 As shown, the present invention also provides another optical autonomous navigation semi-physical simulation system for the Mars capture segment, which includes an orbit generator module 1 , an optical system navigation module 2 and an autonomous navigation module 3 .

[0127] The orbit generator module 1 is used to obtain the theoretical position and theoretical speed of the Mars probe in the Mars J2000 coordinate system, obtain a simulated image of Mars according to the theoretical position, and project the simulated image of Mars to the optical system navigation module 2 on screen 21.

[0128] Preferably, the orbit generator module 1 obtains the theoretical position and theoretical velocity according to the deep space orbit mechanics model of the Mars rover in the Mars J2000 coordinate system, and the deep space orbit mechanics model is as follows:

[0129]

[0130] Among them, R and V respectively represent the theoretical position and the...

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Abstract

The invention provides a mars acquisition phase optical autonomous navigation semi-physical simulation method and a system. the method comprises steps: a track generator module acquires a theoretical position and a theoretical speed of a mars detector in a mars J2000 coordinate system, a simulation image of the mars is acquired according to the theoretical position, and the image is projected on a screen; a camera circuit of an optical system navigation module acquires projection on the screen via an optical lens so as to acquire an analog image of the mars; an image pre-processing unit uses an Sobel operator to carry out edge detection on the analog image of the mars, and an image centroid extraction unit acquires the circle center of the analog image of the mars according to the edge detection result and by using a least square method; and an autonomous navigation module acquires the initial position value and the initial speed value of the mars detector, and according to the initial position value, the initial speed value and the circle center of the analog image of the mars, a UKF filter method is used for acquiring the filter solution position and the filter solution speed of the mars detector. Thus, the navigation precision can be improved.

Description

[0001] technical field [0002] The invention relates to the field of semi-physical simulation of spacecraft, in particular to the field of semi-physical simulation of autonomous navigation of deep space exploration and capture segments. [0003] Background technique [0004] Navigation is not only the premise and basis of the orbit control of the probe, but also the basis of the attitude pointing reference. Therefore, navigation is very important for deep space exploration. Due to the defects of large time delay and invisible arcs in ground measurement and control, it is impossible to provide navigation data in real time, especially in the track braking section that has very high requirements for orbit measurement accuracy and real-time performance. [0005] The main difference between deep space exploration and near-Earth measurement and control is "far". However, the word "far" has brought many difficulties to deep space exploration missions. First of all, the most obv...

Claims

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Application Information

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IPC IPC(8): G05B17/02G01C21/24
Inventor 朱恩阳刘宇董丰谭天乐侯建文王钦
Owner SHANGHAI XINYUE METER FACTORY
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