Patent CN102168980A

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Patent CN102168980A - Independent celestial navigation method of deep space probe based on minor ... - Google Patents
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Independent celestial navigation method of deep space probe based on minor planet intersection
CN 102168980 A
ABSTRACT
The invention relates to an independent celestial navigation method of a deep space probe based on minor planet intersection. The method comprises the following steps of: establishing a state model of the deep space probe according to a circular restrictive track dynamics model; acquiring picture element and picture line information of minor planets and a background fixed star by using a sensor, converting the acquired picture element and picture line information into
Publication number Publication type Application number Publication date Filing date Priority date Also published as Inventors Applicant
CN102168980 A Application CN 201110006636 Aug 31, 2011 Jan 13, 2011 Jan 13, 2011 CN102168980B , , , ,
Classifications (1), Legal Events (3) External Links: SIPO, Espacenet
angle information of the minor planets and the background fixed star and establishing an angle measuring model of the minor planets; and estimating the position and speed of the deep space probe in combination with self-adaptive Unscented Kallman filtering. The method has high estimation accuracy, and is very suitable for independent navigation during minor planet intersection. The method belongs to the technical field of aerospace navigation. By adopting the method, high-accuracy navigation parameters can be provided for the deep space probe, and references can be provided for the design of an independent navigation system of the deep space probe.
DESCRIPTION translated from Chinese

Based asteroid rendezvous deep space probes autonomous celestial navigation method Technology [0001] The present invention relates to an asteroid in deep space probes and rendezvous phase angle information based asteroid autonomous celestial navigation method is a very suitable rendezvous with the asteroid in deep space probes paragraph autonomous navigation method. BACKGROUND [0002] in the solar system, about 140,000 more asteroids gathered in between the orbits of Mars and Jupiter, as well as part of the asteroid runs between the orbits of Earth and Mars, becoming near-Earth asteroids. Asteroids and comets and other small bodies retain many of the early solar system information, is the study of the origin and evolution of the solar system important evidence; through the asteroid to find evidence of the existence of water and organic matter, helps to understand the Earth and the solar system and the origin of life evolution. Asteroid probe more and more attention in recent years. Because deep space exploration general multi-scientific exploration missions, often in a deep space mission, through precise orbit designed to achieve the goals flying planets orbit transfer process, to achieve rendezvous with the asteroid, planets and asteroids complete Detection of common objectives. [0003] Because of this deep-space exploration missions navigation for deep space probes that require high quality, if this phase of navigation error, unable to timely adjust the detector through the orbit control system tracks, missed the best time to maneuver, there may not rendezvous with the asteroid, to achieve common goals probe, resulting in deep space exploration mission failed.
CLAIMS (2) translated from Chinese

1 An asteroid rendezvous segments based on deep-space probes autonomous celestial navigation method, comprising: first orbital dynamics model based on an asteroid rendezvous based on the state of deep space probes segment model, and the image sensor according to an asteroid asteroids and background stars in the positional relationship between the establishment of the measurement model, using sensors to obtain the first asteroid asteroids and background stars, the second asteroid and background stars like pixel line information, then the pixel image line measurement of the amount of information into perspective, combined with adaptive Unscented Kalman Filter deep-space probes to determine attitude, position and velocity; specifically includes the following steps: established based on orbital dynamics of the asteroid rendezvous segment deep space probes state model; Consider the gravitational center of the sun, the center gravity of Mars, Jupiter, Earth's center of gravity and the center of gravity on the role of the detector, select the heliocentric ecliptic inertial coordinate system, we obtain paragraphs deep space probes asteroid rendezvous state model:
Where, i,>, iaxis position of the differential detector, Vx, Vy, Vz the detector axis speed, shaft speed differential, ys, ,, wo Pj respectively Sun, Mars, Earth and Jupiter's gravitational constant, rps for the day centroid detector distance, rpm of Mars to the detector distance, rSffl for the fire heart to heliocentric distance, rpe for the geocentric distance to the detector, rse is geocentric to heliocentric distance, rPJ for the wood centroid distance of the detector, rSJ days for the wood heart to distance from the center, (X1, Y1, Z1), (x2, y2, Z2), (X3, y3, z3) and ( X, y, ) are Mars, Earth, Jupiter and detectors in heliocentric ecliptic inertial coordinate
https://www.google.com/patents/CN102168980A?cl=en&dq=space+navigation&hl=en&sa=X&ei=732lUvn2IMn62gWvq4D4CA&ved=0CDYQ6AEwADgK
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system location, Mars, Earth and Jupiter's position obtained by the planetary ephemeris, wx, wy, Wz were detected The state model of three-axis error; formula (1) in the time t of the variables are the variables which can be abbreviated
[0004] deep space exploration missions far from Earth, communication delay big, huge ground control facilities complex, high operating costs, but also gained ground telescopes asteroid ephemeris is not accurate, the error is large, traditional ground-based radio control Navigation is through the ground orbit prediction, combined asteroid ephemeris deep space probes sent to orbit navigation control commands, but because of deep space exploration missions radio communication delay characteristics and huge ephemeris error, leading to ground-based radio-navigation and control the detector mode can not provide accurate real-time navigation information, therefore, to achieve deep space probes autonomous navigation is the inevitable trend of deep space exploration. [0005] asteroid rendezvous phase with deep space probes, due to its distance from the sun and the planets are farther distance for near-Earth orbit or planetary escape capture, landing and other autonomous navigation method, such as those based IMU, ranging speed sensor, the ground images of autonomous navigation methods are not available at this time celestial navigation is the only effective means of autonomous navigation. [0006] According to the present observations of celestial bodies are different, deep space probes in the transfer orbit autonomous celestial navigation method can be divided into three types: the sun and the planets based on the autonomous celestial navigation method, based on pulsar astronomy autonomous navigation method asteroid astronomy-based autonomous navigation method. The first two methods is the use of the sun and planets, or pulsar positioning, but due to celestial distance, the measurement accuracy is low, the number of observable pulsars less so for asteroid rendezvous paragraph does not apply to deep-space probes. Based on the asteroid's autonomous navigation method is through asteroid astronomical location information to locate the detector. So to Mars beyond (including Mars) deep sky objects as deep space probes detect targets, taking into account the asteroid rendezvous with particularity, many asteroids can be obtained by observing the position of the detector information, eliminating the asteroid Star calendar navigation error on the impact of the detector, the detector transfer orbit asteroid rendezvous achieve high-precision navigation section. [0007] Traditionally, the use of measurement information asteroid autonomous navigation for deep space probes has the following disadvantages: on the one hand traditional uses asteroid measurement information is used for deep space probes asteroid image pixel line like this measurement information, but pixel image line measurement model pose estimation accuracy by the detector constraints pose estimation accuracy directly affects the autonomy of deep space probes navigation accuracy; other traditional methods such as the use of a batch least squares reduction system random error, but the method of least squares estimation accuracy is low, the detector can not provide accurate navigation information navigation. This celestial navigation for autonomous nonlinear systems, in the finite-dimensional system can not fundamentally obtain optimal filtering algorithm to solve the existing problems of nonlinear methods belong to sub-optimal nonlinear estimation. Existing sub-optimal nonlinear estimation methods, such as high precision nonlinear Kalman filtering method is based on the state model and measurement model error distribution characteristics of known and state the amount of a priori information completeness of the premise, if state and measurement error distribution characteristics are not accurate, such as measuring the acceleration of information, and not modeling errors and other errors are not accurate dynamic model, it will have a huge navigation error. SUMMARY OF THE INVENTION [0008] The present invention solves the technical problem: overcoming the sun and the planets and their satellites based on pulsar autonomous navigation method and the sun and the planets and their satellites to the detector distance or navigation pulsars small number of low accuracy the disadvantages of the detector track design requirements, to make up the traditional lines like asteroid measuring pixel detector posture bound by this information insufficient, and the
as
State
variable is X = [X, y, z, vx, Vy, vJT, f (X (t), t) is a nonlinear transfer function continuous state, the state noise is W = [wx, Wy, wJT; establish the first an angle between the asteroid and the background stars and background information and the second asteroid angle information between the stars measurement model; first asteroids and stars background stars i-angle information can be
expressed as: Where, Ipal for the first asteroid relative detector unit vector, for the first asteroid field sensor within the i-stars background stars starlight direction unit vector, i = 1,2,3; second asteroid and i stars background stars angle information expression:
Where, for the second asteroid relative detector unit vector, ^ 2. Sensors for the second asteroid field within the i-stars background stars starlight direction unit vector; make Z = [ , 2i ] T, the measurement noise
And were measured , 2i observational errors, all variables are a function of time t on, places first and second asteroid asteroid background stars with the angle between the respective information as a measurement observables model can be
expressed as: In the step Chinese ( equation of state shown in step of Chinese ( measurements shown discretized equations, X (k +1) = F (X (k), k) + w (k) ( 6)
Where, k = 1,2, -, F (X (k), k) of f (X (t), t) after the discrete nonlinear state transfer function, H (X (k), k) to h (X (t), t) discretized nonlinear measurement function, w (k), v (k) uncorrelated; angle sensor for measuring the amount of information; A. Get first asteroid asteroid tracker and the second of the two asteroids image information; B. Step A of the image information extracted by the centroid and won the first asteroid pixel image line (pml, lml), the first asteroid satellites in the image of the i background stars pixel image line (Pmli, Imli), the second asteroid pixel image line (Pm2, Iffl2) the first image and the second asteroid stars background stars i like pixel line (Pm2i, Iffl2i), i = 1,2,3; C. The first asteroid, the second asteroid and background stars as the line of pixels is converted to vector direction t / Shang, redundant ^,, (2,; D. The first asteroid , the second asteroid and background stars vector direction information into the first asteroid, the second asteroid and the angle between the stellar background information; measurements obtained first asteroids and stars background stars i-angle
information, Measurements obtained second asteroids and stars background stars i-angle information, ^ m2, = arccos (-/mV ^ 2,) (9) adaptive Unscented Kalman Filter, combining step state model, measurement model and the measurements, the output of navigation position and velocity information. (2) according to claim 1, wherein the asteroid rendezvous segments based on deep space probes autonomous celestial navigation method,
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wherein: said step Adaptive Unscented Kalman Filter state model adaptive estimation error variance algorithm, the specific steps: Initialization window coefficient Y adaptive window size Y performance index function is:
system can not solve the existing sub-optimal nonlinear estimation methods such as Unscented Kalman filtering to provide accurate state model and measurement model error distribution characteristics and status of the amount of a priori information for deep space probes rendezvous with the asteroid stage to provide an accurate method of autonomous celestial navigation. [0009] The present invention solves the technical problem of the technology program: to establish high-precision deep space probes state model obtained through the sensor and its corresponding image asteroid background stars like pixel line information, then the image Yuan as line information into a direction vector, to establish the angle between the asteroid and the background information stellar measurement model, which uses adaptive Unscented Kalman Filter estimation model error covariance matrix Q, combined with the estimated model error covariance matrix Q determined depth space probes navigation parameters. [0010] includes the following steps: [0011] 1. Established based on orbital dynamics of the asteroid rendezvous segment deep space probes state model; [0012] in the solar system's asteroid deep space exploration missions are in orbit between Earth and Jupiter area, so need to consider the gravity center of the sun, center of gravity of Jupiter, Mars and the Earth's center of gravity center of gravity on the role of the detector, select the date Heart ecliptic inertial coordinate system, we can get the state of deep space probe model [0013]
Wherein, vljn, v2jn, ..., Vmjn denote the residual time of 1,2, ..., m-line, N = k; means simplex numerical methods to obtain the minimum performance index function window size Y, such that the minimum measurement residual; calculating the residual error variance state model Q * Q '= AxkAxJ + Pk'-P;-Q-(H) where the state of the residual quantity, clever + moment for the state error covariance matrix k predictive value, the system state at time k step prediction error variance matrix values, former state model for the adaptive error variance; state model for calculating the estimated error variance
output after adaptive window size and state model error variance estimates &, and return to the Unscented Kalman Filter for k + moment.
[0014] In the formula, hair Nine-axis position of the differential detector i, vx, vy, Vz the detector axis speed ,, 0> for the detector axis speed differential, ys, ,, Wo Pj are Sun, Mars, Earth and Jupiter, the gravitational constant, rps for the day centroid detector distance, rpm of Mars to the detector distance, rSffl for the fire heart to heliocentric distance, rpe is geocentric to the detector distance, rse is geocentric to heliocentric distance, Iw. detector for the wood centroid distance, I ^ sj for the wooden heart to heliocentric distance, (X1, Y1 ^ z1), (x2, y2, z2 ), (x3, y3, z3) and (x, y, ) are Mars, Earth, Jupiter, and the detector location, Mars, Earth and Jupiter's position obtained by planetary ephemeris, wx, wy, Wz namely the state of the detector axis model error. [0015] formula (1) in the time t of the variables are the variables which can be abbreviated as [0016]
(2) [0017] state variables
Nonlinear continuous system state transfer function, state noise
[0018] 2. Establish asteroid asteroid image sensor and the amount of information measuring the angle between the stellar background model
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[0019] to establish the first asteroids and stars background stars angle i measured the amount of information model [0020]
(3) [0021] where, fpal for the first asteroid relative detector unit vector, iali for the first asteroid field sensor within the i-stars background stars starlight direction unit vector, i = 1,2,3. [0022] a second asteroid and stars background stars angle i measured the amount of information model [0023]
(4) [0024] where, fpa2 for the second asteroid relative to the detector unit vectors' for the second asteroid field sensor within the istars background stars starlight direction unit vector. [0025] so that Z = [ , "\ measurement noise factory two [,, \",,,,. Were measured 2i observational error, places first and second asteroids asteroids The angle between the respective background information as a stellar observations measurement model can be expressed as [0026]
(5) [0027] 3 pairs of Step 1 Chinese ( equation of state shown in step 2 Chinese ( shown in the measurement equation is discretized [0028]
(6) [0029] [0030] where, k = 1,2, ..., F (X (k), k) of f (X (t), t) nonlinear state after the discrete transfer function, H (X (k), k ) is h (X (t), t) after the discrete linear measurement function, w (k), v (k) independent of each other. [0031] 4. Gets angle sensor measuring the amount of information [0032] asteroid sensor acquires the first two asteroids asteroids and second image information; [0033] step in image information extracted by the centroid and won the first asteroid pixel image line (pml, lml), the first asteroid image of the i-th pixel stars background stars like lines (Pmli , Ifflli), the second asteroid pixel image line (pm2, U and the second asteroid i-th image pixel stars background stars like lines (Pm2i, Iffl2i), i = 1,2,3; [0034] first asteroid, the second asteroid and background stars as two-dimensional pixel line converted into threedimensional vector direction; [0035] A. First, the first asteroid, asteroid and a second pixel background stars as line information into a two-dimensional image sensor coordinate plane coordinate system
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[0036]
[0037]
[0038] where, (XKd1) Kazuyoshi 2) as measured by the first and second asteroid asteroids in the corresponding twodimensional image sensor plane coordinate system of coordinates, and ( ^,; ^) to measure i get the first pieces of background stars in the first and the second asteroid asteroid sensitive two-dimensional image sensor plane coordinate system of coordinates, K1 and K2 are the first and second asteroid asteroid imaging sensor by a millimeter converted pixel camera transformation matrix, (Pcu, I01), (P. 2, I02) respectively the first and second asteroid asteroid the center of the sensitive element and the image line image. [0039] B. The first asteroid, asteroid and a second sensor background star-dimensional imaging plane coordinate system coordinates into three-dimensional coordinates of vector information [0040]
[0041] [0042] In the formula, and / two measurements obtained for the first and second asteroid asteroid relative detector unit vector, and ^ 2 for the measurement obtained in the first and second asteroid asteroid The i-th sensor satellites relative to the background stars probing The unit vector; [0043] . The first asteroid and background stars, the second asteroid and background stars vector direction information into the first asteroid angle between the star and its background information, the second asteroid of its background stars between the angle information. [0044] measured by the first asteroid sensitive tolerance get first asteroids and stars background stars i-angle information ^ rali = arccos (-/mV ^ li) (12) measured by the second asteroid to obtain sensitive tolerance The second asteroids and stars background stars i-angle information 6> m2i. = arccos (-/mV?: 2 ;) (13) two sensitive tolerance test to get the first and second asteroid asteroid with the respective background stars angle measurement [0045] [0046] [0047] [0048]
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Is: [0049] [0050]
Zk = [emll (k), ml2 (k), eml3 (k), m21 (k), m22 (k), em23 (k)] T (14) In the formula, 4 system at the time of the k measurement, emli (k), em2i (k) denote the k time measurements obtained with the first asteroid stars background stars between the i-angle information, the second asteroid background stars with the i-between teeth angle information, i = 1,2,3. [0051] 5. Orbit adaptive Unscented Kalman Filter [0052] using adaptive Unscented Kalman Filter, combining step state model, measurement model and measurements, on the one hand the state model using adaptive estimation error variance adaptive algorithm for model error covariance matrix Q, the other less small state model, measurement error model nonlinear stochastic models using Unscented Kalman Filter algorithm, combined with the state equation and measurement equation is filtered, measured using the sensor for the first asteroid, the second asteroid and the background pixel image stellar line information, and information into this measurement measurement first asteroids, asteroids and background stellar second angle information, through measurement and measurement system equation is obtained by subtracting the measurement residuals with the residual correction system measurement equation model error; utilization Unscented sampling, combined with the equation of state of the sampling point step prediction, and come with the previous iteration state covariance matrix between the values in order to eliminate the state equation model error, and the final output navigation information. Which state model adaptive estimation error variance algorithm, specific steps: [0053] Initialization window factor Y [0054] adaptive window size Y [0055] performance index function is [0056]
[0057] where vk represents the measurement value and the measurement model residuals, m is the dimension measurement, V1, n, v2, n, ..., vffl, n denote the residual time of the first , 2, ..., m row, N represents the total number of samples, where N = k; means of numerical methods simplex, the performance index obtained by the minimum size of the window function Y, such that the minimum measurement residual; [0058] state model for calculating residual error variance Q * [0059]
[0060] where, Axk residuals for the state variables, which means the state of the measurement volume changes before and after update, P / system state at time k prediction error covariance matrix, the system state at time k step prediction error covariance matrix values, error variance for the current state of the system; [0061] state model for calculating the estimated error variance [0062]
[0063] output after adaptive window size Y and state model error variance 0 Shu, and return to the Unscented Kalman Filter for k + moment. [0064] The principle of the present invention: The present invention is based on an asteroid the angle between the star and its background information for the observables an asteroid rendezvous segment detector celestial navigation method using adaptive Unscented Kalman Filter right position, speed estimation of the navigation parameters. First establish deep space probes orbital dynamics model, using a circular orbit dynamics model restrictive establish its state model, directly in the first and the second asteroid asteroid sensitive image sensor acquires the first asteroid, respectively, and The first asteroid background star pixel line information as well as a second asteroid asteroid background stars and the second image pixel line information, and thus indirectly via pixel information obtained as a first line of the first asteroid asteroid Background information on the angle between the star and the second with the second asteroid asteroid angle between the stellar
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background information, establish appropriate measurement model. Because the state model and measurement error models exist, so in addition to being outside the constraints of precision measuring instruments, the nonlinear problem is to limit the period of deep space probes asteroid rendezvous navigation accuracy of the main factors, and therefore orbit determination using filtering Unscented Kalman filtering method to solve systems of nonlinear problems. In order to avoid inappropriate choice of filter parameters, the present invention utilize simple search for numerical methods to estimate the appropriate filter parameters, and automatically adjust the filtering parameters to achieve adaptive filtering parameters Unscented Kalman Filter, to achieve the position, speed, etc. Navigation parameter estimation accuracy. [0065] The present invention over the prior art has the advantage of: (a) make full use of the image sensor to obtain information not only takes advantage of the asteroid pixel image line information, but also use of the image of the background star information for captured by Mars probe provides highly accurate navigation performance; ( angle between the use of information on the asteroid, to overcome the attitude estimation error on the asteroid pixel image line measurement accuracy of the model, to further improve the deep-space probes navigation accuracy; C3) adaptive filtering parameters, to overcome the existing methods can not accurately set the filtering parameters this shortcoming, the state model adaptive estimation error variance Unscented Kalman Filter algorithm provides an accurate model of state model and measurement error distribution characteristics, and state the amount of a priori information, to achieve high-precision navigation of deep space probes. BRIEF DESCRIPTION [0066] Figure 1 is an invention is based on an asteroid rendezvous deep space probes flowchart of a method of autonomous celestial navigation. [0067] Figure 2 in the present invention the angle between the asteroid and the amount of information measured against the background stars schematic model. [0068] Figure 3 is an invention of the first asteroid imaging schematic diagram. [0069] Figure 4 is an adaptive filtering method in the present invention FIG. Specific embodiments [0070] Figure 1 shows a specific embodiment of the present invention is as follows: [0071] 1. Established based on orbital dynamics of the asteroid rendezvous segment deep space probes state model; [0072] First, initialize the detector's location, speed, set the state quantity X = [x, y, , vx, vy, vJT, , y, , vx, vy, vz, respectively, the detector center inertial coordinate system in Japan the axis position and speed, track design of the detector, the detector position and velocity selected for the initial [0073] X = [-1. 853 X 10nm -1. 168 X 10nm -5 032 X 1010m [0074] -9. 213X 103m/sl. 855X 104m/s-8. 065X 103m / s] T [0075] considered the center of the sun gravity, center of gravity of Mars, Jupiter, Earth's center of gravity and the center of gravity on the role of the detector, select the heliocentric ecliptic inertial coordinate system, we can get the state of deep space probe model
[0077] In the formula, less hair, axis position detector differential, vx, vy, Vz the detector axis speed,,,,, t is the detector axis speed differential, ys, ,, Wo Pj are Sun, Mars, Earth and Jupiter, the gravitational constant, rps for the day centroid detector distance, rpm of Mars to the detector distance, rSffl for the fire heart to heliocentric distance, rpe is geocentric to detect The distance, rse is geocentric to heliocentric distance, Iw. detector for the wood centroid distance, I ^ sj for the wooden heart to heliocentric distance, (X1, Y1 ^ z1), (x2, y2, z2), (x3, y3, z3) and (x, y, ) are Mars, Earth, Jupiter, and the detector location, Mars, Earth and Jupiter's position obtained by planetary ephemeris, wx, wy, Wz respectively triaxial state detector model error. [0078] Formula (18) in the respective variables are variables associated with the time t, can be abbreviated as [0079]
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[0080] state variable is X = [x, y, z, vx, vy, vJT, f (X (t), t) is a continuous state of nonlinear transfer function, state noise is w = [wx, Wy, WJto [0081] 2. Establish the angle between the asteroid and the background information stellar measurement model [0082] In the present invention, the first and second asteroid asteroids respective three background stars in the image information as the angle between the measurement shown in Figure 2, the figure shows the first and second asteroid asteroids in their two-dimensional image sensor plane of the image information, and a first sensor of the first asteroid stars background stars i asteroid sensor image and the second in the i-th star stars background image, according to the first small Planetary sensor image information can be obtained in the first vector direction asteroids asteroids ^ 11 and the first background image in the i-th star stars vector direction, the angle between the information u, also from the second asteroid sensor image information can be obtained in the second direction vector of the asteroid asteroid ^ pa2 and the second image in the i-th vector direction of stars background stars Sa2, the angle between the information 92i. For convenience of description, the figure selected only a background star, ie i pieces, i = 1,2,3, each piece of practical application, select the three asteroids image background stars. [0083] The first asteroid image sensor and three background star first asteroid expression for the angle information [0084]
[0085] where, fpal for the first asteroid relative detector unit vector, 3 "1213 for the first asteroid field sensor within the first one, the second and third pieces of background stars stars stars direction unit vector, i = 1,2,3. [0086] The second image sensor in the second asteroid asteroids and three background stars angle information can be expressed as [0087]
[0088] where Jpa2 for the second asteroid relative detector unit vector, i ^ imim visual sensor for the second asteroid Within the field of the first one, the second and third pieces of background stars stars stars direction unit vector. [0089] so that Z = [ , 12, 13, 21, 22, 23] , measurement noise = [0, ,, Vyi ^ A22, V0Jt, %, &, ^,,,, 1 ^, 1 ^ were measured , 12, 13, 21, 22, observational errors, all variables are a function of time t is related measurement model can be expressed to [0090]
[0091] asteroid angle information from the measurement equation it can be seen, no attitude matrix equation, so the image coordinate information and the direction information of the vector compared to the angle information asteroid navigation method as for the measurements from the attitude determination Accuracy Effects that can determine the speed of the detector position provides high navigation accuracy. [0092] 3 pairs of Step 1 Chinese (19) and the equation of state as shown in step 2 as shown in Chinese 0 measurement equation is discretized [0093] X (k +1) = F (X (k), k) + w (k) (23) [0094] Z (k) = H (X (k), k) + (k) (24) [0095] where, k = 1,2, ..., F (X (k), k) of f (X (t), t) nonlinear state after the discrete transfer function, H (X (k), k ) is h (X (t), t) after the discrete linear measurement function, w (k), v (k) independent of each other. [0096] 4. Gets angle sensor measuring the amount of information
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[0097] Sensor image forming process shown in Figure 3, Figure 3 is a first example to describe the first asteroid asteroid during imaging sensor, the second sensor asteroid imaging process is similar. The first asteroid sensor consists of an optical lens and two-dimensional imaging plane array, composed in the first asteroid measuring sensor coordinate system 0. the first asteroid asteroid reflected solar rays to the detector along a first direction vector &, toward the first asteroid sensor, time, the first asteroid asteroid sensor in a first measurement coordinate system in the coordinates (x., y., z.); first asteroid sensor optical lens with focal length of the light transmittance of Mars after the imaging plane array on a two-dimensional imaging, two-dimensional imaging plane array will be reflected in each imaging unit on the brightness of the image signal stored; since the first asteroid in the two-dimensional image on the imaging plane array is not a point but a circle through the center of mass recognition and other image processing techniques to determine the first two-dimensional imaging plane asteroid images centroid coordinates OX2dY2d (x2d, y2d), the central line can be used as pixel coordinates of the pixel image OplXpJpl lines (P, 1) said that from the asteroid backstepping imaging principle, can be converted to a first small planet vector direction fpal, then the amount of information acquisition angle measuring specific steps: [0098] asteroid sensor acquires the first two asteroids asteroids and second image information; [0099] steps to obtain image information extracted by the centroid and won the first asteroid pixel image line ( Iml), the first of an asteroid in the image, the second and third pieces of pieces of pixel background stars like lines (Pmll, Imll), (P Jml2, Iml2), (pml3, Iml3), the second asteroid pixel image line (Pm2, lm2) and a second image of the first one asteroid, and the second teeth The pixel image line (Pm21, Im21), (Pm,
Three constant background [0100] first small line [0101] A. First, the first asteroid, a second small line-dimensional imaging plane coordinate system the coordinates OX2dY2d 2d1; 2dml X y, lm22), (Pm23 'lm23) And background stellar line-dimensional pixel image into three-dimensional vector direction; 1 its background stars pixel image sensor converts line information: [0102] [0103]
[0104] In the formula, (power, redundancy) and is measured first and second small asteroid line
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In the first and the second asteroid asteroid sensitive two-dimensional image sensor plane coordinate system of coordinates, The second and third satellites stars background stars in the first and the second asteroid asteroid sensitive two-dimensional image sensor plane coordinate system of coordinates, K1 and K2 are the first and second asteroid asteroid imaging sensor converted by a millimeter pixel camera transformation matrix, (Ptll, leu), (Pm IJ respectively first and second asteroid asteroid center pixel sensor and the image line. [0105] B. The first asteroid, asteroid and a second sensor background star-dimensional imaging plane coordinate system coordinates into three-dimensional coordinates of vector information C = Md,) 2 Hy2J,) 2 ^ A2 " V ^ FkFF ^ 1 Xm \ 2 less ml2 - ^ J Xm21 ym2 \ "" / 2 J [0106] 5mll = 5ml2 two Sml3 ~ (27) V (^ i2) 2 + (^ d12) 2 + / 2 1 [0107] 5m21 two 5m22 two ^ 23 two Md21) 2 _1_ Kd22) 2 + (Zd22) 2 + / / ^ D22-Z2] 1 (28) V (^ d23) 2 + (^ 23) 2 + 2 Four little two- [0108] In the formula, ^ pound two measurements obtained for the first and second asteroid asteroid relative detector unit vector, S11 ^ 2JUpK215C22, ^ 23 is obtained by measuring sensor and the first asteroid The second sensor of the first asteroid One, the second and third pieces of background stars satellites relative detector unit vector; [0109] The first asteroid, the second asteroid and background stars vector direction information into the first asteroid, the first 13 two asteroids and the angle between the stellar background information. [0110] The first asteroid sensitive tolerance test to get the first three background stars asteroids and angle information [0111]
[0112] The second asteroid sensitive tolerance test to get a second asteroids and stars background stars i-angle information
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[0113]
[0114] The first and the second asteroid asteroid with the respective image three background stars as the angle between the measurement [0115]
[0116] In the formula, 4 denotes the measurement system at the time k, mll (k), ml2 (k), eml3 (k), m21 (k), 0ffl22 (k), 0ffl23 (k) denote k be the first time measured the first and second asteroid asteroids with three angle information between the background stars. [0117] 5. Orbit adaptive Unscented Kalman Filter [0118] Adaptive Unscented Kalman Filter flow chart shown in Figure 4, the specific steps: [0119] initialization state error covariance matrix Ptl, the state model error covariance matrix%, measurement model error covariance matrix R [0120] P0 = diag (5X10lcl, 5X10lcl, 5X108, l, l, lX10_2); [0121] Q0 = diag (3,3,3,3 X10_3, 3X10_4, 3X10_5); [0122] R = diag (1 X 10 ", 1 X 1 (T7, 1 X 1 (7, 1 X 1 (7, 1 X 1 (7, 1 X 1 (7, 1 X 1 (7, 1 X 1 (7, 1 X IO "7) [0123] augmented state variables and the state error covariance matrix [0124] Let k be the amount of time the state
[0125] k moments of the state error variance formula, dish for the state and state error covariance matrix [0126] Unscented Kalman Filter [0127] A. Initialization [0128]
[0129] B. Calculation sampling points [0130] P (k | k) in / O sample points near the selected series, these sample points, respectively, the mean and covariance of righteousness G Gou and ..., X 18, k and their respective weights Wtl ... W18 as follows [0131] [0132] [0133]
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[0134] In the formula, if P (k | k) = AtA time, (yJP (k \ k) ^ take the row j of A, if P (k | k) = AAt is, (V ^ i ^ L taken A, column j. [0135]
[0136] C. Time Updates [0137] The step prediction state amount xk + l | k is [0138]
(35) [0139] state the amount of all sampling points weighted step prediction results as onions [0140]
(36) [0141] where, Wj is the j weight of sample points; [0142] state the amount of the estimated variance of step prediction iT [0143]
(37) [0144] where the state at time k & model noise covariance matrix; [0145] measurement sampling points corresponding to the estimated value ZklH
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[0146]
(38) [0147] All samples measured estimated weighted value & [0148]
(39) [0149] D. Measurement Update [0150] covariance matrix of the measurement [0151]
(40) [0152] where, Rk is the measurement noise covariance; [0153] state variable measurement covariance matrix Buddhist 4: [0154]
(41) [0155] for the filter gain Kk [0156]
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(42)
[0157] state estimate of the amount of hair and the estimated variance Pk [0158] (43) [0159]
(44) [0160] where, Qk, and &, respectively, for the system and measurement noise covariance. [0161] error estimation algorithm [0162] error estimation algorithm steps are as follows [0163] A. Initialization window factor Y [0164] B. adaptive window size Y [0165] performance index function is [0166]
[0167] wherein, vk represents the measurement value and the measurement model residuals, m is the dimension measurement, V1, n, v2, n, ..., vm, n denote the residual time of 1,2, ..., m row, N represents the total number of samples, where N = k; means of numerical methods simplex, the performance index obtained by the minimum size of the window function Y, such that the minimum measurement residual; [0168] C. calculate state model residual error variance Q * [0169]
[0170] where, Axk residuals for the state variables, which means the measurement and measurement pre-update state of the updated amount of change, P / system state at time k prediction error covariance matrix, P4-system state at time k step prediction error variance matrix values ^ Shu error variance for the current state of the system; [0171] D. Calculation state model estimation error variance [0172]
[0173] . Output after adaptive window size Y and state model error variance ^ i +, and return to step Unscented Kalman filter for k + moment. [0174] obtained in the first step state amount and the estimated value of the estimated variance Pk hair return filter for k + time, k = 1,2, ... and the output state estimates hair (including the location of the detector, speed navigation information), the output of the filter estimated variance estimation means Pk performance. [0175] The present invention is not described in detail in the specification of the content that is known to those skilled in the art.
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CLASSIFICATIONS
International Classification G01C21/24
LEGAL EVENTS
Date Nov 14, 2012 Oct 12, 2011 Aug 31, 2011 Code C14 C10 C06 Event Granted Request of examination as to substance Publication Description
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Patent CN102168980A

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Patent CN102168980A

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12/9/13

Classifications (1), Legal Events (3) External Links: SIPO, Espacenet

DESCRIPTION translated from Chinese

CLAIMS (2) translated from Chinese

(2) [0017] state variables

Nonlinear continuous system state transfer function, state noise

(41) [0155] for the filter gain Kk [0156]

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