Optimal method for evaluating observational information of landmarks on the surface of irregular small celestial bodies

An optimization method and technology for small celestial bodies, which can be applied to navigation calculation tools, integrated navigators, etc., and can solve the problems of inaccurate independent selection of navigation road signs, and the uncertainty of crater navigation road signs errors are not considered.

Active Publication Date: 2020-07-07
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0008] In view of the fact that the existing navigation landmark selection method for deep space probes does not consider the influence of the uncertainty of the crater navigation landmark error, which leads to the problem that the independent selection method of navigation landmark is not accurate enough

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  • Optimal method for evaluating observational information of landmarks on the surface of irregular small celestial bodies
  • Optimal method for evaluating observational information of landmarks on the surface of irregular small celestial bodies
  • Optimal method for evaluating observational information of landmarks on the surface of irregular small celestial bodies

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Embodiment Construction

[0066] In order to better illustrate the purpose and advantages of the present invention, the content of the invention will be further described below in conjunction with the accompanying drawings and examples.

[0067] In order to verify the feasibility of the present invention, the image information of the crater on the surface of the small celestial body Eros 433 is used, and the image noise of 2 pixels is added, and all the road signs detected by the crater through image processing are drawn on the original picture, as shown in Figure 4 (b) shown. Define the three-dimensional coordinates of each crater navigation landmark in the small celestial body fixed coordinate system, the initial position of the detector in the small celestial body fixed coordinate system is [-300; 50; 2000] meters, and the initial attitude is [6; -8; 10] degrees, the navigation relationship between the detector, the image plane and the planet surface is as follows: figure 2 shown. The field of v...

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Abstract

The invention, which belongs to the autonomous navigation, discloses a road sign observation information evaluation optimization method of a small irregular celestial body surface. The method comprises: on the basis of an image processing algorithm, detecting and extracting meteorite crater observation information of a small celestial body surface in a navigation camera image; carrying out ellipsefitting and meteorite crater center positioning on the detected and extracted meteorite crater and calculating an error uncertainty matrix R of the meteorite crater based on uncertainty propagation characteristics; according to a pixel coordinate and an image line coordinate of a navigation road sign observed in the navigation image, constructing an observation matrix H; and constructing an evaluation index function based on the R and H and selecting an optimal navigation road sign preferably with consideration of the observation error and position formation distribution of the navigation road sign, According to the selected optimal meteorite crater navigation road sign, a position attitude of a deep space detector is determined, so that the navigation accuracy of the position attitude ofthe deep space detector is improved.

Description

technical field [0001] The invention relates to a method for evaluating, optimizing and selecting observation information of optical navigation landmarks of deep-space probes on the surface of irregular small celestial bodies, in particular to a navigation system suitable for autonomously determining the position and attitude of deep-space probes using crater landmarks as observation information The evaluation optimization selection method belongs to the field of autonomous navigation. Background technique [0002] Flying near the target celestial body will be one of the core tasks of deep space exploration in the future. The voyage of deep space exploration is far away and takes a long time, and the traditional measurement and control method has a large communication delay. In addition, the dynamic environment of deep space is complex, and the traditional navigation and control mode based on ground remote control can no longer meet the needs of high-precision detection, whi...

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Application Information

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Patent Type & AuthorityPatents(China)
IPC IPC(8): G01C21/24G01C21/20
CPCG01C21/20G01C21/24
Inventor朱圣英修义崔平远徐瑞梁子璇
OwnerBEIJING INSTITUTE OF TECHNOLOGYGY