Cooperative navigation method between small celestial body detectors

A collaborative navigation and detector technology, applied in the field of deep space exploration, can solve the problem of large influence of navigation and measurement information on estimation accuracy, and achieve the effect of improving accuracy

CN111735459AActive Publication Date: 2020-10-02BEIJING INSTITUTE OF TECHNOLOGYGY
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2020-10-02

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Abstract

The invention discloses a cooperative navigation method between small celestial body detectors, and belongs to the technical field of deep space detection. The implementation method comprises the following steps: establishing a small celestial body detection kinetic model, wherein the small celestial body detection kinetic model comprises a deep space detection small celestial body kinetic model and a small celestial body detection cooperative detector kinetic model; respectively establishing an optical camera measurement model and an inter-detector measurement model, and fusing the angular position information of optical measurement and the relative distance and speed information between detectors to obtain a small celestial body detection collaborative navigation measurement model; deriving and establishing an observability degree optimization index by analyzing observability of a navigation system, evaluating the observability of the navigation system through the observability degree optimization index, and obtaining optimal collaborative navigation measurement information through optimization; and according to the small celestial body detection kinetic model, the collaborativenavigation measurement model and the optimized measurement information, adopting a navigation filtering method to achieve accurate estimation of the detector state, so as to improve the collaborativedetection autonomous navigation precision. According to the method, support can be provided for deep space exploration collaborative navigation information optimization.
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Description

technical field

[0001] The invention relates to a cooperative navigation method among small celestial body detectors, and belongs to the technical field of deep space detection. Background technique

[0002] The detection of small celestial bodies is the main way for human beings to understand the formation and evolution of the universe and the solar system, and to explore the origin of life. Because small celestial bodies are far away from the earth, the traditional navigation method using ground station measurement and control communication has a large communication delay, and it is difficult to meet the real-time and accuracy requirements of small celestial body detection tasks. Therefore, autonomous navigation technology has become the main navigation method for small celestial body detection. .

[0003] Autonomous optical navigation is the main navigation method for small celestial body detection. Autonomous optical navigation generally takes images of small celestial...

Examples

Embodiment 1

[0056] This example is aimed at the approaching section of small celestial bodies, taking two cooperative detectors as an example to verify and analyze the optimization method of cooperative navigation measurement information. By introducing collaborative measurement information, the observability and accuracy of the navigation system are improved. Based on the observability analysis, the cooperative navigation measurement information is optimized and selected to further improve the observability and accuracy of the navigation system. The resolution of the camera is 1024×1024, and the field of view of the camera is 10°. The initial state of detector A in the heliocentric inertial system is [-87661306km, -190962919km, -81325101km, -9.13km / s, -10.79km / s, -6.67km / s]. The initial state under is [-87657556km, -190968450km, -81317523km, -8.69km / s, -10.44km / s, -6.72km / s], and the initial state of the small celestial body in the heliocentric inertial system is [-87706306km, -1910079...