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

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...

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Problems solved by technology

[0006] Optical navigation is currently the preferred method for autonomous navigation in deep space exploration. However, our country has not yet conducted Mars exploration, nor has optical autonomous navigation been used in practice.

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