基于天文测角测速组合的小行星探测器自主导航方法
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摘要
自主导航是保障深空探测任务顺利实施的关键技术之一,本文针对小行星探测器在实际工程任务中对天文自主导航能力的需求,提出了天文光谱测速结合天文图像测角的组合自主导航方法,实现小行星探测器连续自主、实时高精度导航.以主带小行星谷神星探测任务为背景,分析了本文所提出的组合导航方法的可观测性,并基于UKF算法,给出了组合导航系统仿真分析.仿真结果表明,组合导航系统的可观测性更好,对比传统的地面无线电导航或者测角导航方法,导航结果精度更高、实时性更优,可为小行星探测器变轨修正等提供准确的导航信息.本文所给出的组合导航方法有效可靠、工程实现简单,为我国小行星探测工程任务及后续深空重大任务的实施提供参考.
Autonomous navigation is one of the key technologies to ensure the successful implementation of deep space exploration mission. Aiming at the requirement of celestial autonomous navigation ability of asteroid probe in practical engineering tasks, the integrated autonomous navigation method combined celestial spectral velocity measurement with celestial image angle measurement is proposed to realize continuous autonomous, real-time and high-precision navigation of asteroid probe. Considering the limitation of traditional radio navigation on the ground and the high requirement for autonomous survivability of asteroid probe, the task of asteroid explorer has an urgent need for real-time and autonomous navigation ability. The current autonomous navigation method mainly extracts the angle measurement information of the probe relative to the target celestial planet from the optical image information of the target celestial planet, and then calculates and determines the navigation state of the probe. However the accuracy of velocity estimation by this navigation method is limited, which still cannot fully meet the current demand of asteroid probe. In view of the shortcomings of the main existing autonomous navigation methods, this paper proposes a direct velocity measurement method based on astronomical spectrum, and combines it with the astronomical angle navigation method to form the integrated autonomous navigation method. Based on the integrated autonomous navigation method, the navigation system model and filtering algorithm are derived, and the observability and navigation accuracy performance of the integrated navigation system are analyzed. Taking the Ceres exploration mission as an engineering background, the simulation results show that the stellar velocity information measured by astronomical spectroscopy can greatly improve the integrated navigation performance. And the accuracy of position and velocity estimation results of the probe can restrain the influence of errors more effectively and enhance the reliability of navigation system. Compared with the traditional terrestrial radio navigation or angle measurement navigation methods, the integrated navigation results have higher accuracy and better real-time performance, which can provide accurate navigation information for asteroid probe orbit modification. The integrated navigation method derived in this paper is effective, reliable and easy to implement. It provides a reference for the implementation of the asteroid exploration project and the subsequent major deep space missions in China.
Autonomous navigation is one of the key technologies to ensure the successful implementation of deep space exploration mission. Aiming at the requirement of celestial autonomous navigation ability of asteroid probe in practical engineering tasks, the integrated autonomous navigation method combined celestial spectral velocity measurement with celestial image angle measurement is proposed to realize continuous autonomous, real-time and high-precision navigation of asteroid probe. Considering the limitation of traditional radio navigation on the ground and the high requirement for autonomous survivability of asteroid probe, the task of asteroid explorer has an urgent need for real-time and autonomous navigation ability. The current autonomous navigation method mainly extracts the angle measurement information of the probe relative to the target celestial planet from the optical image information of the target celestial planet, and then calculates and determines the navigation state of the probe. However the accuracy of velocity estimation by this navigation method is limited, which still cannot fully meet the current demand of asteroid probe. In view of the shortcomings of the main existing autonomous navigation methods, this paper proposes a direct velocity measurement method based on astronomical spectrum, and combines it with the astronomical angle navigation method to form the integrated autonomous navigation method. Based on the integrated autonomous navigation method, the navigation system model and filtering algorithm are derived, and the observability and navigation accuracy performance of the integrated navigation system are analyzed. Taking the Ceres exploration mission as an engineering background, the simulation results show that the stellar velocity information measured by astronomical spectroscopy can greatly improve the integrated navigation performance. And the accuracy of position and velocity estimation results of the probe can restrain the influence of errors more effectively and enhance the reliability of navigation system. Compared with the traditional terrestrial radio navigation or angle measurement navigation methods, the integrated navigation results have higher accuracy and better real-time performance, which can provide accurate navigation information for asteroid probe orbit modification. The integrated navigation method derived in this paper is effective, reliable and easy to implement. It provides a reference for the implementation of the asteroid exploration project and the subsequent major deep space missions in China.
引文
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16 Hermann R,Krener A.Nonlinear controllability and observability.IEEE Trans Automat Contr,1977,22:728-740
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2 Brophy J.The dawn ion propulsion system.Space Sci Rev,2011,163:251-261
3 Di Cara D M,Estublier D.Smart-1:An analysis of flight data.Acta Astronaut,2005,57:250-256
4 Estublier D,Saccoccia G,Jose G D A.Electric propulsion on SMART-1-a technology milestone.ESA Bull,2007,129:40-46
5 Hang G R,Kang X L.Application and development trends of electric propulsion in deep-space primary propulsion(in Chinese).J Rocket Propul,2012,38:1-8[杭观荣,康小录.电推进在深空探测主推进中的应用及发展趋势.火箭推进,2012,38:1-8]
6 Yu Y F.The success or failure of Japan’s falcon asteroid explorer is uncertain(in Chinese).China Aerospace,2006,2:38-40[俞盈帆.日本隼鸟号小行星探测器成败未卜.中国航天,2006,2:38-40]
7 Zhang W,Chen X,You W,et al.New autonomous navigation method based on redshift(in Chinese).Aerospace Shanghai,2013,30:32-33[张伟,陈晓,尤伟,等.光谱红移自主导航新方法.上海航天,2013,30:32-33]
8 Wang W,Fang B D,Zhang W.Deceleration options for a robotic interstellar spacecraft.In:64th International Astronautical Congress.Beijing,2013
9 Chen X,Zhang W,Wang W.Preliminary research of mars local navigation constellation.In:64th International Astronautical Congress.Beijing,2013
10 Lightsey E G,Mogensen A E,Burkhart P D,et al.Real-time navigation for mars missions using the mars network.J Spacecraft Rockets,2008,45:519-533
11 Harlander J,Reynolds R J,Roesler F L.Spatial heterodyne spectroscopy for the exploration of diffuse interstellar emission lines at far-ultraviolet wavelengths.Astrophys J,1992,396:730-740
12 Englert C R,Babcock D D,Harlander J M.Doppler asymmetric spatial heterodyne spectroscopy(DASH):Concept and experimental demonstration.Appl Opt,2007,46:7297-7307
13 Qin Y Y,Zhang H Y,Wang S H.Kalman Filtering and Integrated Navigation Principle(in Chinese).Xi’an:Northwest University of Technology Press,2012[秦永元,张洪钺,汪叔华.卡尔曼滤波与组合导航原理.西安:西北工业大学出版社,2012]
14 Huang X Y,Cui P Y,Cui H T.Observability analysis of deep space autonomous navigation system(in Chinese).J Astron,2006,27:332-337[黄翔宇,崔平远,崔祜涛.深空自主导航系统的可观性分析.宇航学报,2006,27:332-337]
15 Cui P Y,Chang X H,Cui H T.Research on observability analysis-based autonomous navigation method for deep space(in Chinese).J Astron,2011,32:2115-2124[崔平远,常晓华,崔祜涛.基于可观测性分析的深空自主导航方法研究.宇航学报,2011,32:2115-2124]
16 Hermann R,Krener A.Nonlinear controllability and observability.IEEE Trans Automat Contr,1977,22:728-740
17 Lee E B,Markus L.Foundations of Optimal Control Theory.New York:Wiley,1967:27-39
18 Fang J C,Ning X L.Autonomous Astronomical Navigation Method for Deep Space Explorer(in Chinese).Xi’an:Northwest University of Technology Press,2010[房建成,宁晓琳.深空自主天文导航方法.西安:西北工业大学出版社,2010]