Cooperative navigation method among small astro-probes

Abstract

The cooperative navigation method among small celestial body detectors disclosed in the invention belongs to the technical field of deep space detection. The implementation method of the invention is as follows: establishing a small celestial body detection dynamic model, including a dynamic model for deep space detection of small celestial bodies and a small celestial body detection collaborative detector dynamic model. The optical camera measurement model and the inter-detector measurement model are established respectively, and the angular position information of the optical measurement and the relative distance and velocity information between the detectors are combined to obtain the small celestial body detection collaborative navigation measurement model. By analyzing the observability of the navigation system, the observability optimization index is derived and established, and the observability of the navigation system is evaluated by the observability optimization index, and the optimal collaborative navigation measurement information is obtained by optimization. According to the small celestial body detection dynamics model, the cooperative navigation measurement model and the optimized measurement information, the navigation filtering method is used to realize the accurate estimation of the detector state and improve the autonomous navigation accuracy of the cooperative detection. The invention can provide support for the optimization of cooperative navigation information for deep space exploration.

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...

AI Technical Summary

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.

Images