Spacecraft inertia/fixed star starlight vector/solar Doppler velocity combined navigation method

A technology of Doppler velocity and integrated navigation, which is applied in the field of autonomous navigation of spacecraft, and can solve the problem that the position and velocity cannot be corrected

Pending Publication Date: 2021-10-26
BEIHANG UNIV
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Problems solved by technology

[0003] The technical problem to be solved by the present invention is to overcome the problem that the traditional inertial / astronomical integrated navigation can only correct the attitude, but cannot correct the position and velocity, and provide a spacecraft inertial / stellar starlight vector / sun Doppler velocity integrated navigation for the spacecraft method, the attitude error is corrected by the stellar starlight vector, and the velocity error is corrected by the sun Doppler velocity, so as to provide high-precision position, velocity and attitude information for the spacecraft

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  • Spacecraft inertia/fixed star starlight vector/solar Doppler velocity combined navigation method
  • Spacecraft inertia/fixed star starlight vector/solar Doppler velocity combined navigation method
  • Spacecraft inertia/fixed star starlight vector/solar Doppler velocity combined navigation method

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Embodiment Construction

[0034] The present invention will be described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0035] figure 1 The flow chart of spacecraft inertial / stellar starlight vector / solar Doppler velocity integrated navigation method is given. The specific implementation process:

[0036] 1. Taking the spacecraft platform misalignment angle, velocity error, position error, gyro drift and accumulator bias as the state quantities, establish the state equation of the spacecraft;

[0037] The state equation of the system can be expressed as:

[0038]

[0039] where the state quantity is [φ E φ N φ U ] T Mathematical platform misalignment angles representing east, north and sky directions, are the speed errors in the east direction, north direction and sky direction respectively, [δL δλ δH] T Indicates the p...

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Abstract

The invention relates to a spacecraft inertia / fixed star starlight vector / solar Doppler velocity combined navigation method. An inertial navigation system is used as a main navigation system, a fixed star starlight vector is used as a measurement auxiliary correction platform misalignment angle, a solar Doppler speed is used as a measurement auxiliary correction speed error, and simultaneous correction of the speed and the attitude of a spacecraft is realized. A system state equation is established according to an inertial navigation error transfer equation, and a system measurement equation is established according to a fixed star starlight vector and a solar Doppler velocity; and as the system state equation and the measurement equation are nonlinear equations, the UKF is used for estimating the system state quantity, and then the position, speed and attitude information of the spacecraft are obtained. The method belongs to the field of autonomous navigation of spacecrafts, can provide high-precision position, speed and attitude information for the spacecrafts, and has important practical significance for autonomous navigation of the spacecrafts.

Description

technical field [0001] The invention belongs to the field of spacecraft autonomous navigation, and relates to a spacecraft inertial / stellar starlight vector / sun Doppler speed combined navigation method, which is suitable for high-precision autonomous positioning and attitude determination of spacecraft. Background technique [0002] In recent years, the inertial / astronomical integrated navigation system has been widely used in aerospace, national defense and military fields due to its strong autonomy, no error accumulation over time, and good concealment. Traditional inertial / astronomical integrated navigation often uses the difference between the attitude calculated by inertial navigation and the attitude calculated by celestial navigation to correct the attitude error of inertial navigation. However, this method can only correct the attitude error, and has little effect on the correction of the position and velocity errors. Velocity error is an important factor affecting ...

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Application Information

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IPC IPC(8): G01C21/16G01C21/20G01C21/02
CPCG01C21/165G01C21/20G01C21/02
Inventor 宁晓琳杨雨青黄玉琳房建成
Owner BEIHANG UNIV
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