A Spectral Redshift Autonomous Integrated Navigation Method Based on Robust Adaptive UKF

Abstract

The invention discloses a spectral redshift autonomous integrated navigation method based on robust adaptive UKF, which uses the ephemeris information of solar system celestial bodies, supplemented by the attitude information of the spacecraft measured by the star sensor, and the spectral redshift measured in the space where the spacecraft is located. Calculate the first speed by shifting value; obtain the second speed of the spacecraft through the inertial navigation system, and generate a speed difference; measure the first horizontal position and the second horizontal position of the spacecraft through the inertial navigation and geomagnetic positioning system, and generate a horizontal position Position difference; establish a measurement model for spectral redshift / inertial navigation / geomagnetic integrated navigation system; perform optimal estimation through interactive multi-model robust adaptive UKF to obtain error estimates; correct navigation parameters of inertial navigation system to obtain aerospace The speed information, position information and attitude information of the spacecraft; the invention can effectively reduce the navigation error caused by the nonlinear characteristics and the uncertainty of the system model, and is suitable for the requirements of the spacecraft on the autonomy and high precision of the navigation system.

Description

【Technical field】 [0001] The invention belongs to the technical field of navigation, guidance and control, and in particular relates to a spectral redshift autonomous combined navigation method based on interactive multi-model robustness adaptive UKF. 【Background technique】 [0002] The development of spacecraft has put forward higher and higher requirements for the navigation system in terms of autonomy, positioning accuracy, and reliability. Due to its inherent defects, a single navigation system has been difficult to meet the requirements. Integrated navigation technology refers to the combination of two or more than two single navigation systems to form a brand new navigation system. Positioning accuracy, to better meet the user's requirements for navigation system performance. [0003] Because the inertial navigation system (INS) has the advantages of comprehensive navigation information, simple structure, small size, light weight, low cost, and high reliability, the m...

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Problems solved by technology

[0006] The purpose of the present invention is to provide a spacecraft spectral redshift autonomous integrated navigation method based on robust adaptive UKF, to solve the problem of low navigation accuracy caused by traditional navigation methods due to interruption of communication with the ground and linear method to deal with the nonlinear characteristics of the navigation system question

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