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当前火星探测器环绕段的导航信息主要依赖地面深空探测网提供,基于光学成像的导航方式尚不能提供较高的导航精度。因此提出一种应用相对测量的探测器实现火星环绕段的自主导航。两颗编队飞行的探测器进行相对测量,观测信息为探测器之间的相对视线矢量(LOS)。同时利用主星的星敏感器确定星体在惯性空间的姿态,将观测信息转换至惯性系下获得简化的观测方程,使用扩展卡尔曼滤波器(EKF)对卫星的轨道进行确定。介绍了具体导航方案的实现方法和技术细节,使用粒子群优化方法(PSO)对模型设计的相关参数进行优化,导航精度得到明显提高。实现位置确定精度10 m,速度确定精度0.01 m/s。为设计最优的编队导航系统参数提供了有效思路。
The current navigation information of the Mars rover surround mainly depends on the ground deep space exploration network, and the navigation method based on optical imaging can not provide higher navigation precision. Therefore, a method of relative measurement of detector is proposed to realize the autonomous navigation around Mars. The two formation flying detectors make relative measurements, and the observation information is the relative line of sight vector (LOS) between the detectors. At the same time, the satellite’s star sensor is used to determine the attitude of the satellite in inertial space. The observation information is converted to inertial system to obtain a simplified observation equation, and the EKF is used to determine the orbit of the satellite. The implementation method and technical details of the specific navigation scheme are introduced. Particle swarm optimization (PSO) is used to optimize the related parameters of the model design, and the navigation precision is obviously improved. Realization of position determination accuracy of 10 m, speed determination accuracy of 0.01 m / s. It provides an effective way to design the optimal formation navigation system parameters.