编队卫星的星间基线确定方法研究
摘要
卫星编队飞行是目前国内外航天领域研究的热点问题之一。它利用编队卫星上装载的各种传感器,通过星间和传感器间的协同工作,可以实现单颗大卫星无法完成的多种高精度测量任务,从而使传统卫星系统的总体性能和应用领域得到了极大地拓展。卫星编队飞行需要解决的关键技术之一是星间基线的高精度确定。高精度的星间基线信息不仅是分布式合成孔径雷达(SAR)实现地面高程测量及地面运动目标指示(GMTI)的关键所在,而且对于编队卫星的控制也起着至关重要的作用。
本文以双星编队为背景,开展星间基线确定方法的研究,主要工作包括三部分:
研究基于自主式测量手段的高精度星间基线确定方法。通过对常用相对状态测量手段的特性分析并结合编队需求,提出了星间基线确定的组合测量方法。该方法不仅能提高编队的自主性,而且从理论上也能有效实现基线确定的高精度。考虑到基线测量量与编队所需基线矢量之间往往存在差异,论文以分布式SAR干涉测高为例,给出了测量基线与测高基线之间的转换关系,建立了相应的误差传播模型,并以仿真的形式分析了影响测高基线确定精度的各种因素。
研究基于全球定位系统(GPS)测量的事后星间相对定位方法。基于相对位置参数的连续特性及函数逼近理论,建立了GPS相对定位的样条模型,并针对传统随机模型与实际GPS差分观测数据统计特性不符的情况,提出了基于样条迭代随机建模的相对定位方法,且分别针对单、双频GPS给出了具体算法流程及实施步骤。另外,为进一步提高相对定位精度并增强系统的鲁棒性,论文提出了基于增强型GPS的相对定位新思路,建立了相应的样条融合观测模型,给出了具体的参数估计算法。
研究基于增强型GPS的实时星间相对定位方法。针对有、无卫星轨道动力学模型的情况,提出了动态序贯点估计方法、基于三差相对位置时间传播的自适应不敏卡尔曼滤波(UKF)相对定位方法以及基于高精度动力学模型的自适应UKF相对定位方法等三种方法,其中,第一种方法由于在参数估计的过程中只利用了当前历元的观测信息,因此相对定位精度只能达到分米级;第二种方法根据GPS三差观测方程,巧妙地利用最小二乘法得到相对位置的时间传播关系,并进而采用自适应UKF实时估计星间相对位置。实验仿真表明,当星间距离较小时,该方法能有效提高相对定位精度。与前面两种方法相比,第三种方法在对当前历元的未知参数进行估计的过程中,不仅利用了利用了当前历元以前所有的观测信息,而且还将系统的状态信息(即卫星轨道动力学模型)融入其中,因此使相对定位精度进一步得到改善。
Satellite formation flying is currently one of the focuses being studied in the domain of domestic and overseas spaceflight. Satellite formation flying uses all kinds of sensors loaded on the satellite to realize many high-precision measurement missions which cannot be achieved by a single large satellite by the cooperation of inter-satellite and inter-sensor, so it will greatly improve the general performance and expand the application fields of the custom satellite system. One of the key technologies of satellite formation flying which need to be resolved is the determination of high-precision inter-satellite baseline. High-precision inter-satellite baseline is not only the key of the digital elevation measurement and ground moving target indication(GMTI) of the distributed synthetic aperture radar(SAR), but also very important to the control of formation satellite.
Aiming at dual-satellite formation, this thesis studies the methods of inter-satellite baseline determination, and its main achievements will include three parts mostly:
High-precision baseline determination methods based on autonomous measurement means are studied. By analyzing the characteristic of the common state measure methods combined with the formation requirement, this thesis puts forward a combined measurement method, which can not only improve the autonomy of formation, but also realize the high-precision of the determination of inter-satellite baseline. Because of the difference between the directly measured baseline and that actually used one by the formation, taking the distribute InSAR for example, this paper gives the transform flow between them and constructs the corresponding error propagation model, and analyses all sorts of factors influencing the altimeter baseline determination precision by simulation.
The post-facto inter-satellite relative positioning method based on global positioning system(GPS) measurement is studied. Based on the continuity of relative position and the theory of function approximation, spline model of GPS relative positioning is constructed. Because the traditional random model is not identical with that of real GPS double-difference measurements, an iterative random modeling method based on spline function model is put forward, and the concrete algorithm flow and its implementation steps of single-frequency and dual-frequency GPS are given. In addition, in order to improve the precision of relative positioning and to increase the robustness of system, an relative positioning method based on augmented GPS is proposed, and its corresponding spline function model is constructed, and the concrete algorithm of state estimation is given.
The real-time inter-satellite relative positioning based on augmented GPS is studied. Based on with and without the dynamic model of formation satellites, three methods are proposed, naming dynamic sequential point estimation method, adaptive unscented kalman filtering(UKF) relative positioning method based on triple-differenced measurement time propagation and adaptive UKF relative positioning method based on high-precision dynamic model of satellites . Because the measurements of current epoch are only used during the parameter estimation of the first method, the level of decimeter of relative positioning precision can be attained. The second method uses the least square method to achieve the time propagation relationship based on GPS tripe-differenced measurements, and uses adaptive UKF to estimate the inter-satellite relative positioning. Simulations show that this method can effectively improve the precision when the inter-satellite distance is short. Compared to the former two methods, the third method not only uses all measurements before the current epoch, but also includes the state information of the system (naming satellite orbit dynamic model) during the estimation of state, so its precision of relative positioning is further improved.
本文以双星编队为背景,开展星间基线确定方法的研究,主要工作包括三部分:
研究基于自主式测量手段的高精度星间基线确定方法。通过对常用相对状态测量手段的特性分析并结合编队需求,提出了星间基线确定的组合测量方法。该方法不仅能提高编队的自主性,而且从理论上也能有效实现基线确定的高精度。考虑到基线测量量与编队所需基线矢量之间往往存在差异,论文以分布式SAR干涉测高为例,给出了测量基线与测高基线之间的转换关系,建立了相应的误差传播模型,并以仿真的形式分析了影响测高基线确定精度的各种因素。
研究基于全球定位系统(GPS)测量的事后星间相对定位方法。基于相对位置参数的连续特性及函数逼近理论,建立了GPS相对定位的样条模型,并针对传统随机模型与实际GPS差分观测数据统计特性不符的情况,提出了基于样条迭代随机建模的相对定位方法,且分别针对单、双频GPS给出了具体算法流程及实施步骤。另外,为进一步提高相对定位精度并增强系统的鲁棒性,论文提出了基于增强型GPS的相对定位新思路,建立了相应的样条融合观测模型,给出了具体的参数估计算法。
研究基于增强型GPS的实时星间相对定位方法。针对有、无卫星轨道动力学模型的情况,提出了动态序贯点估计方法、基于三差相对位置时间传播的自适应不敏卡尔曼滤波(UKF)相对定位方法以及基于高精度动力学模型的自适应UKF相对定位方法等三种方法,其中,第一种方法由于在参数估计的过程中只利用了当前历元的观测信息,因此相对定位精度只能达到分米级;第二种方法根据GPS三差观测方程,巧妙地利用最小二乘法得到相对位置的时间传播关系,并进而采用自适应UKF实时估计星间相对位置。实验仿真表明,当星间距离较小时,该方法能有效提高相对定位精度。与前面两种方法相比,第三种方法在对当前历元的未知参数进行估计的过程中,不仅利用了利用了当前历元以前所有的观测信息,而且还将系统的状态信息(即卫星轨道动力学模型)融入其中,因此使相对定位精度进一步得到改善。
Satellite formation flying is currently one of the focuses being studied in the domain of domestic and overseas spaceflight. Satellite formation flying uses all kinds of sensors loaded on the satellite to realize many high-precision measurement missions which cannot be achieved by a single large satellite by the cooperation of inter-satellite and inter-sensor, so it will greatly improve the general performance and expand the application fields of the custom satellite system. One of the key technologies of satellite formation flying which need to be resolved is the determination of high-precision inter-satellite baseline. High-precision inter-satellite baseline is not only the key of the digital elevation measurement and ground moving target indication(GMTI) of the distributed synthetic aperture radar(SAR), but also very important to the control of formation satellite.
Aiming at dual-satellite formation, this thesis studies the methods of inter-satellite baseline determination, and its main achievements will include three parts mostly:
High-precision baseline determination methods based on autonomous measurement means are studied. By analyzing the characteristic of the common state measure methods combined with the formation requirement, this thesis puts forward a combined measurement method, which can not only improve the autonomy of formation, but also realize the high-precision of the determination of inter-satellite baseline. Because of the difference between the directly measured baseline and that actually used one by the formation, taking the distribute InSAR for example, this paper gives the transform flow between them and constructs the corresponding error propagation model, and analyses all sorts of factors influencing the altimeter baseline determination precision by simulation.
The post-facto inter-satellite relative positioning method based on global positioning system(GPS) measurement is studied. Based on the continuity of relative position and the theory of function approximation, spline model of GPS relative positioning is constructed. Because the traditional random model is not identical with that of real GPS double-difference measurements, an iterative random modeling method based on spline function model is put forward, and the concrete algorithm flow and its implementation steps of single-frequency and dual-frequency GPS are given. In addition, in order to improve the precision of relative positioning and to increase the robustness of system, an relative positioning method based on augmented GPS is proposed, and its corresponding spline function model is constructed, and the concrete algorithm of state estimation is given.
The real-time inter-satellite relative positioning based on augmented GPS is studied. Based on with and without the dynamic model of formation satellites, three methods are proposed, naming dynamic sequential point estimation method, adaptive unscented kalman filtering(UKF) relative positioning method based on triple-differenced measurement time propagation and adaptive UKF relative positioning method based on high-precision dynamic model of satellites . Because the measurements of current epoch are only used during the parameter estimation of the first method, the level of decimeter of relative positioning precision can be attained. The second method uses the least square method to achieve the time propagation relationship based on GPS tripe-differenced measurements, and uses adaptive UKF to estimate the inter-satellite relative positioning. Simulations show that this method can effectively improve the precision when the inter-satellite distance is short. Compared to the former two methods, the third method not only uses all measurements before the current epoch, but also includes the state information of the system (naming satellite orbit dynamic model) during the estimation of state, so its precision of relative positioning is further improved.
引文
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