Cooperative navigation method between small celestial body detectors

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.

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...

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Problems solved by technology

[0005] Aiming at the problem that the estimation accuracy of the small celestial body detection cooperative navigation system is greatly affected by the navigation measurement information, the technical problem to be solved by the cooperative navigation method between small celestial body detectors disclosed in the present invention is: on the basis of the autonomous optical navigation method, the introduction of radio measurement detection By analyzing the observability of the navigation system, the observability optimization index is derived to evaluate the observability of the navigation system, realize the reasonable planning of the collaborative navigation measurement information, and finally improve the observability and accuracy of the collaborative navigation system.

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