深空探测天文测角测速组合自主导航方法
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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。当前深空自主导航大多通过天文测角信息来实现导航状态的实时估计,无法获得直接速度测量信息。针对深空导航的特点及需求,基于天文恒星光谱测速方法瞬时速度精度高,但位置精度随时间发散的特点,将其与测角导航方法相结合形成组合导航系统,实现深空探测连续自主、实时高精度的导航方案。通过可观测性分析,组合导航的可观测度较传统的测角导航方法提高了一个数量级,可有效提高导航估计收敛速度和抗干扰能力。在系统设计的基础上,搭建了半物理仿真系统,并结合火星探测工程任务背景开展了仿真。仿真结果表明,加入天文光谱测量信息后,有效抑制了量测误差的影响,进一步提高了导航估计精度,增强了导航系统可靠性,为实现深空探测高精度自主导航提供了新的技术途径。
Autonomous navigation is a key technology to ensure the deep space exploration missions carried out smoothly.Astronomical angle measurement is used usually by traditional autonomous celestial navigation.However the spacecraft's velocity can't be resolved directly in the real-time by the angle navigation.To solve this problem,velocity measurement navigation method based on stellar spectra shift is proposed.The autonomous celestial integrated navigation method is derived by combining velocity measurement with angle measurement,which can ensure the long-term high accuracy,real-time and continuous navigation performance for deep space exploration missions.And observable degree of integrated navigation is improved by an order of magnitude,so the convergence speed and anti-interference ability of integrated navigation are enhanced.Then,hardware in-the-loop simulation system of integrated navigation is designed based on the Mars exploration mission.The navigation results show that the influences of measurement errors are restrained effectively.The integrated navigation has higher navigation accuracy,reliability and effectiveness.And a novel technical solution for deep space exploration missions is derived by the method of integrated navigation.
Autonomous navigation is a key technology to ensure the deep space exploration missions carried out smoothly.Astronomical angle measurement is used usually by traditional autonomous celestial navigation.However the spacecraft's velocity can't be resolved directly in the real-time by the angle navigation.To solve this problem,velocity measurement navigation method based on stellar spectra shift is proposed.The autonomous celestial integrated navigation method is derived by combining velocity measurement with angle measurement,which can ensure the long-term high accuracy,real-time and continuous navigation performance for deep space exploration missions.And observable degree of integrated navigation is improved by an order of magnitude,so the convergence speed and anti-interference ability of integrated navigation are enhanced.Then,hardware in-the-loop simulation system of integrated navigation is designed based on the Mars exploration mission.The navigation results show that the influences of measurement errors are restrained effectively.The integrated navigation has higher navigation accuracy,reliability and effectiveness.And a novel technical solution for deep space exploration missions is derived by the method of integrated navigation.
引文
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[3]Marini A,Racca G,Foing B.SMART-1technology preparation for future planetary missions[J].Advances in Space Research,2002,30(8):1895-1900.
[4]宁晓琳,房建成.一种基于纯天文观测的火星车自主导航方法[J].空间科学学报,2006,26(2):142-147.
[5]朱圣英,常晓华,崔祜涛,等.基于视线矢量的深空自主导航算法研究[J].空间科学学报,2011,31(4):534-540.
[6]Riedel J,Bhaskaran S,Desai S,et al.Autonomous optical navigation(AutoNav)Deep Space 1technology validation report[M].Pasadena,California:JPL Publication,2002:29.
[7]Shearer A,Golden A.Implications of the optical observations of isolated neutron stars[J].The Astrophysical Journal,2001,547(2):967-972.
[8]张伟,陈晓,尤伟,等.光谱红移自主导航新方法[J].上海航天,2013(2):32-33.
[9]Wang W,Fang B D,Zhang W.Deceleration options for a robotic interstellar spacecraft[C]//Proceedings of 64th International Astronautical Congress.Beijing,2013.
[10]刘宇飞,崔平远,崔祜涛.深空导航系统状态描述形式的选取问题研究[J].宇航学报,2008,29(1):115-120.
[11]Chen X,Zhang W,Wang W.Preliminary research of Mars local navigation constellation[C]//Proceedings of 64th International Astronautical Congress.Beijing,2013.
[12]Lightsey E G,Mogensen A,Burkhart P D,et al.Real-time navigation for Mars missions using the Mars network[J].Journal of Spacecraft and Rockets,2008,45(3):519-533.
[13]Harlander J,Reynolds R J,Roesler F L.Spatial heterodyne spectroscopy for the exploration of diffuse interstellar emission lines at far-ultraviolet wavelengths[J].The Astrophysical Journal,1992,396:730-740.
[14]Englert C R,Babcock D D,Harlander J M.Doppler asymmetric spatial heterodyne spectroscopy(DASH):concept and experimental demonstration[J].Applied Optics,2007,46(29):7297-7307.
[15]Julier S J,Uhlmann J K.Unscented filtering and nonlinear estimation[J].Proceedings of the IEEE,2004,92(3):401-422.
[16]秦永元,张洪钺,汪叔华.卡尔曼滤波与组合导航原理[M].西安:西北工业大学出版社,2012.
[17]黄翔宇,崔平远,崔祜涛.深空自主导航系统的可观性分析[J].宇航学报,2006,27(3):332-337.
[18]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[J].宇航学报,2011,32(10):2115-2124.
[19]Hermann R,Krener A.Nonlinear controllability and observability[J].IEEE Transactions on Automatic Control,1977,22(5):728-740.
[20]Lee E B,Markus L.Foundations of optimal control theory[M].New York:Wiley,1967:27-39.
[21]房建成,宁晓琳.深空自主天文导航方法[M].西安:西北工业大学出版社,2010.
[22]Tapley B,Schutz B,Born G.Statistical orbit determination[M].London:Elsevier,2004.