CN111623785B - Deep space probe autonomous navigation method based on inter-satellite time delay measurement - Google Patents

Deep space probe autonomous navigation method based on inter-satellite time delay measurement Download PDF

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CN111623785B
CN111623785B CN202010693101.7A CN202010693101A CN111623785B CN 111623785 B CN111623785 B CN 111623785B CN 202010693101 A CN202010693101 A CN 202010693101A CN 111623785 B CN111623785 B CN 111623785B
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CN111623785A (en
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桂明臻
魏才盛
陈溅来
芦佳振
张俊超
戴明哲
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Central South University
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    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
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Abstract

The invention provides an autonomous navigation method of a deep space probe based on inter-satellite time delay measurement, which comprises the following steps: firstly, taking the positions and the speeds of two detectors flying in formation as system state quantities, and establishing a system state model according to track dynamics; then, the vector quantity measurement in the sun direction is obtained through a sun sensor, and the time delay measurement and the differential Doppler velocity measurement of the sunlight reaching the two detectors are obtained through an atom frequency discriminator; and respectively establishing a sun direction vector measurement model, an inter-satellite time delay measurement model and a differential Doppler velocity measurement model. According to the autonomous navigation method of the deep space probe based on the inter-satellite time delay measurement, distance information of the probe relative to the sun is provided through the inter-satellite time delay measurement, direction information of the probe relative to the sun is provided through the sun direction vector measurement, speed information of the probe relative to the sun is provided through the inter-satellite differential Doppler speed measurement, and high-precision autonomous navigation of the deep space probe is achieved.

Description

Deep space probe autonomous navigation method based on inter-satellite time delay measurement
Technical Field
The invention relates to the technical field of autonomous navigation of detectors, in particular to an autonomous navigation method of a deep space detector based on inter-satellite time delay measurement.
Background
In 2020, the optimal time window for launching the Mars detector is up to, the Mars No. one detector is planned to be launched in China, and the first real planet detection in China is developed. For the planetary exploration task, the navigation accuracy has an important influence on the success or failure of the task. At present, navigation information is mainly provided for a detector through a ground measurement and control station, the method can meet the requirements of most near-earth space tasks, but when a deep space detection task at a longer distance is carried out, the ground radio measurement and control mainly has the problems of three aspects of extension during communication, navigation interruption possibly caused by interference of sunscals, celestial body shielding and the like, high operation cost and the like, and the requirement of the deep space detection task in the future on high-precision real-time navigation is difficult to meet. Therefore, it is necessary for the planetary probe to improve autonomous navigation capability of the probe.
The most mature autonomous astronomical navigation in the prior art is astronomical angular navigation, and the position information of a detector is obtained by observing the positions of planets and stars at known positions on an image through an optical camera. The method has the advantages of high instantaneous positioning precision and capability of providing direction information of the detector relative to the target celestial body. However, the farther the distance between the probe and the celestial body is, the lower the positioning accuracy of the angle measurement navigation is, and further, this method cannot directly provide information on the distance of the probe with respect to the target celestial body. There is proposed a Navigation Method Using a sharp change in the center wavelength of a spectrum caused by Solar Oscillation as a feature to obtain a Time Delay of direct sunlight and reflected sunlight reflected by a reflection Celestial body reaching a detector, and providing position information of the detector by measuring the Time Delay as a quantity (Ning x., Gui m., Fang j., et al. a Novel Autonomous Navigation Method Using Solar excitation Time estimation Measurement, IEEE Transactions on an atmospheric and Electronic Systems,2018,54(3): 1392-. However, the diffuse reflection caused by the rough surface of the reflection celestial body and the difference of the reflection points affect the waveform of the reflected light, and the time delay measurement is deviated, thereby lowering the navigation accuracy.
Disclosure of Invention
The invention provides an autonomous navigation method of a deep space probe based on inter-satellite time delay measurement, and aims to solve the problems that when a traditional probe carries out a deep space probe task at a longer distance, the operation cost is high, and the requirement of the future deep space probe task on high-precision real-time navigation is difficult to meet.
In order to achieve the above object, an embodiment of the present invention provides a deep space probe autonomous navigation method based on inter-satellite time delay measurement, including:
step 1, taking the positions and the speeds of two detectors flying in formation as system state quantities, and establishing a system state model according to track dynamics;
step 2, obtaining sun direction vector quantity measurement through a sun sensor, and establishing a sun direction vector measurement model according to the sun direction vector quantity measurement;
step 3, respectively obtaining solar spectrum frequency shifts through atom frequency discriminators of two detectors flying in formation, obtaining the radial speed of the detectors relative to the sun according to the solar spectrum frequency shifts, obtaining differential Doppler velocity measurement through the radial speed difference of the two detectors relative to the sun, and establishing a differential Doppler velocity measurement model according to the differential Doppler velocity measurement;
step 4, respectively observing sunlight through atom frequency discriminators on the two detectors, obtaining time delay measurement of the sunlight reaching the two detectors, and establishing an inter-satellite time delay measurement model according to the time delay measurement;
and 5, obtaining the position and speed information of the detector through implicit unscented Kalman filtering.
Wherein, the step 1 specifically comprises:
the positions and velocities of two detectors flying in formation are taken as system state quantities as follows:
Figure BDA0002589972600000021
wherein, Xa＝[ra va]T，raIndicating the position of the detector a relative to the sun, vaRepresenting the velocity vector, X, of detector a relative to the sunb＝[rb vb]T，rbIndicating the position of the detector b relative to the sun, vbRepresenting the velocity vector of detector b relative to the sun.
Wherein, the step 1 further comprises:
the system state model, as follows:
Figure BDA0002589972600000031
wherein r isaIndicating the position of the detector a relative to the sun, vaRepresenting the velocity vector, r, of detector a relative to the sunbIndicating the position of the detector b relative to the sun, vbRepresenting the velocity vector of detector b relative to the sun,
Figure BDA0002589972600000032
are respectively ra、va、rb、vbThe derivative of (d), g, represents the 2 norm of the vector, μsDenotes the gravitational constant of the sun, waRepresenting process noise, w, caused by various disturbances to the detector abRepresenting process noise caused by various disturbances to which the detector b is subjected;
formula (2) is represented as follows:
Figure BDA0002589972600000033
wherein the content of the first and second substances,
Figure BDA0002589972600000034
the derivative of the state quantity X is marked,
Figure BDA0002589972600000035
representing time t
Figure BDA0002589972600000036
f (x (t), t) represents the system nonlinear state transfer function, w ═ 0 wa 0 wb]TRepresenting the system process noise vector, w (t) represents w at time t.
Wherein, the step 2 specifically comprises:
the sun sensor is used for obtaining direction vectors of the sun relative to the two detectors, and the sun direction vectors are used as measurement quantities, and the measurement quantities are as follows:
Figure BDA0002589972600000037
wherein s isaRepresenting the sun direction vector, s, obtained by detector abIndicating probeSun direction vector r obtained by detector baIndicating the position of the detector a relative to the sun, rbIndicating the position of detector b relative to the sun.
Wherein, the step 2 further comprises:
measuring Z by taking the sun direction vector as a quantity1＝[sa sb]TAnd establishing a sun direction vector measurement model as follows:
Z1＝h1[X(t),t]+V1(t) (5)
wherein h is1(g) Non-linear continuous measurement function, V, representing sun direction vector1(t) represents the measurement noise of the solar direction vector at time t.
Wherein, the step 3 specifically comprises:
in order to eliminate the influence of solar spectrum frequency fluctuation on Doppler velocity measurement, solar spectrum frequency shifts are respectively obtained by using atomic frequency discriminators of two detectors flying in formation, the radial velocity of the detectors relative to the sun is obtained through the solar spectrum frequency shifts, and differential Doppler velocity measurement is obtained by differentiating the radial velocities of the two detectors relative to the sun as follows:
Figure BDA0002589972600000041
wherein, Δ vrRepresenting differential Doppler velocity measurements, vraRepresenting the radial velocity measurement, v, of the detector a relative to the sunrbRepresenting the radial velocity measurement, r, of the detector b relative to the sunaIndicating the position of the detector a relative to the sun, vaRepresenting the velocity vector of detector a relative to the sun, rbIndicating the position of the detector b relative to the sun, vbRepresenting the velocity vector, u, of the detector b relative to the sunpaRepresenting a disturbance term upsilon caused by solar spectrum frequency fluctuation to a detector apbRepresenting a disturbance term upsilon caused by solar spectrum frequency fluctuation to a detector bmaDoppler velocity measurement noise, upsilon, indicative of probe ambRepresenting the Doppler velocity of probe bMeasurement of noise, Δ νp＝υpa-υpbRepresenting a disturbance term delta upsilon caused by the spectral frequency fluctuation of the solar light after differencem＝υma-υmbRepresenting the doppler velocity measurement noise after the difference.
Wherein, the step 3 further comprises:
taking differential Doppler velocity as a measure Z2＝[Δvr]Establishing a differential Doppler velocity measurement model as follows:
Z2＝h2[X(t),t]+V2(t) (7)
wherein h is2(g) Non-linear continuous measurement function, V, representing differential Doppler velocity2(t) represents a measurement error of the differential Doppler velocity at time t.
Wherein, the step 4 specifically comprises:
let two solar photons be at t0At a time, away from the surface of the sun, a photon travels along a path, t1The moment is captured by a detector a, and the position of the detector a relative to the sun is ra,1The other photon propagates along path two, at t2The moment is captured by a detector b, and the position of the detector b relative to the sun is rb,2At t2The position of the time detector a relative to the sun is ra,2The inter-satellite time delay is measured as follows:
Figure BDA0002589972600000042
where Δ t represents the inter-satellite time delay measurement, c represents the speed of light, ra,1Is shown at t1The position of the time detector a relative to the sun, rb,2Is shown at t2The position of the moment detector b relative to the sun;
the position of detector a relative to the sun is represented by the orbital dynamics equation for detector a as follows:
ra,1＝f′a(ra,2,Δt) (9)
wherein r isa,1Is shown at t1The position of the time detector a relative to the sun, ra,2Is shown at t2The position of the time detector a relative to the sun, fa(ra,2And delta t) represents the orbital dynamics equation, f 'of detector a'a(ra,2Δ t) denotes fa(ra,2Δ t), Δ t representing an inter-satellite time delay measurement;
the implicit function of Δ t is as follows:
Figure BDA0002589972600000051
wherein c represents the speed of light, rb,2Is shown at t2The position of the time detector b relative to the sun, ra,1Is shown at t1The position of the time detector a relative to the sun, Δ t, represents an inter-satellite time delay measurement.
Wherein, the step 4 further comprises:
taking the inter-satellite time delay as a measure Z3＝[Δt]Establishing an inter-satellite time delay implicit measurement model as follows:
0＝h3(X,Z3-V3) (11)
wherein h is3(g) Non-linear implicit measurement function, V, representing the time delay between stars3Indicating the measurement error of the inter-satellite time delay.
Wherein, the step 5 specifically comprises:
when no inter-satellite time delay measurement is carried out, time updating is carried out through a system state model according to a fixed filtering period, measurement updating is carried out through a sun direction vector measurement model and a differential Doppler velocity measurement model, state estimation and error covariance estimation of a detector are obtained through implicit unscented Kalman filtering, and navigation information is obtained; when inter-satellite time delay measurement is obtained, time updating is carried out through a system state model according to a fixed filtering period, measurement updating is carried out through an inter-satellite time delay measurement model, state estimation and error covariance estimation are obtained through implicit unscented Kalman filtering, and navigation information is obtained.
The scheme of the invention has the following beneficial effects:
according to the autonomous navigation method for the deep space probe based on the inter-satellite time delay measurement, the distance information of the probe relative to the sun is provided through the inter-satellite time delay measurement, the direction information of the probe relative to the sun is provided through the sun direction vector measurement, the speed information of the probe relative to the sun is provided through the inter-satellite differential Doppler speed measurement, the sun is observed by using the existing atomic frequency discriminator and the sun sensor to obtain the measurement, a new probe is not required to be specially developed, and the high-precision autonomous navigation of the deep space probe is realized.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic view of the position relationship between the detector and the sun according to the present invention;
FIG. 3 is a flow chart of autonomous navigation based on inter-satellite time delay measurement according to the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The invention provides an autonomous navigation method of a deep space probe based on inter-satellite time delay measurement, aiming at the problems that when the existing probe carries out a deep space probe task at a longer distance, the operation cost is high, and the requirement of the future deep space probe task on high-precision real-time navigation is difficult to meet.
As shown in fig. 1 to 3, an embodiment of the present invention provides a deep space probe autonomous navigation method based on inter-satellite time delay measurement, including: step 1, taking the positions and the speeds of two detectors flying in formation as system state quantities, and establishing a system state model according to track dynamics; step 2, obtaining sun direction vector quantity measurement through a sun sensor, and establishing a sun direction vector measurement model according to the sun direction vector quantity measurement; step 3, respectively obtaining solar spectrum frequency shifts through atom frequency discriminators of two detectors flying in formation, obtaining the radial speed of the detectors relative to the sun according to the solar spectrum frequency shifts, obtaining differential Doppler velocity measurement through the radial speed difference of the two detectors relative to the sun, and establishing a differential Doppler velocity measurement model according to the differential Doppler velocity measurement; step 4, respectively observing sunlight through atom frequency discriminators on the two detectors, obtaining time delay measurement of the sunlight reaching the two detectors, and establishing an inter-satellite time delay measurement model according to the time delay measurement; and 5, obtaining the position and speed information of the detector through implicit unscented Kalman filtering.
In the deep space detector autonomous navigation method based on inter-satellite time delay measurement according to the embodiment of the invention, the characteristic matching is performed on the sunlight spectrum wavelength sequences observed by the two detectors flying in formation, so that the time delay of the sunlight reaching the two detectors can be obtained, and the time delay of the sunlight reaching the two detectors is related to the positions of the two detectors relative to the sun, so that the inter-satellite time delay can be used as a novel measurement for navigation.
Wherein, the step 1 specifically comprises: the positions and velocities of two detectors flying in formation are taken as system state quantities as follows:
Figure BDA0002589972600000071
wherein, Xa＝[ra va]T，raIndicating the position of the detector a relative to the sun, vaRepresenting the velocity vector, X, of detector a relative to the sunb＝[rb vb]T，rbIndicating the position of the detector b relative to the sun, vbRepresenting the velocity vector of detector b relative to the sun.
Wherein, the step 1 further comprises: the system state model, as follows:
Figure BDA0002589972600000072
wherein r isaIndicating the position of the detector a relative to the sun, vaRepresenting the velocity vector, r, of detector a relative to the sunbIndicating the position of the detector b relative to the sun, vbRepresenting the velocity vector of detector b relative to the sun,
Figure BDA0002589972600000073
are respectively ra、va、rb、vbThe derivative of (d), g, represents the 2 norm of the vector, μsDenotes the gravitational constant of the sun, waRepresenting process noise, w, caused by various disturbances to the detector abRepresenting process noise caused by various disturbances to which the detector b is subjected;
formula (2) is represented as follows:
Figure BDA0002589972600000074
wherein the content of the first and second substances,
Figure BDA0002589972600000075
the derivative of the state quantity X is marked,
Figure BDA0002589972600000076
representing time t
Figure BDA0002589972600000077
f (x (t), t) represents the system nonlinear state transfer function, w ═ 0 wa 0 wb]TRepresenting the system process noise vector, w (t) represents w at time t.
Wherein, the step 2 specifically comprises: the sun sensor is used for obtaining direction vectors of the sun relative to the two detectors, and the sun direction vectors are used as measurement quantities, and the measurement quantities are as follows:
Figure BDA0002589972600000081
wherein s isaIndicating the result of detector aVector of sun direction, sbRepresenting the sun direction vector, r, obtained by detector baIndicating the position of the detector a relative to the sun, rbIndicating the position of detector b relative to the sun.
Wherein, the step 2 further comprises: measuring Z by taking the sun direction vector as a quantity1＝[sa sb]TAnd establishing a sun direction vector measurement model as follows:
Z1＝h1[X(t),t]+V1(t) (5)
wherein h is1(g) Non-linear continuous measurement function, V, representing sun direction vector1(t) represents the measurement noise of the solar direction vector at time t.
Wherein, the step 3 specifically comprises: in order to eliminate the influence of solar spectrum frequency fluctuation on Doppler velocity measurement, solar spectrum frequency shifts are respectively obtained by using atomic frequency discriminators of two detectors flying in formation, the radial velocity of the detectors relative to the sun is obtained through the solar spectrum frequency shifts, and differential Doppler velocity measurement is obtained by differentiating the radial velocities of the two detectors relative to the sun as follows:
Figure BDA0002589972600000082
wherein, Δ vrRepresenting differential Doppler velocity measurements, vraRepresenting the radial velocity measurement, v, of the detector a relative to the sunrbRepresenting the radial velocity measurement, r, of the detector b relative to the sunaIndicating the position of the detector a relative to the sun, vaRepresenting the velocity vector of detector a relative to the sun, rbIndicating the position of the detector b relative to the sun, vbRepresenting the velocity vector, u, of the detector b relative to the sunpaRepresenting a disturbance term upsilon caused by solar spectrum frequency fluctuation to a detector apbRepresenting a disturbance term upsilon caused by solar spectrum frequency fluctuation to a detector bmaDoppler velocity measurement noise, upsilon, indicative of probe ambRepresenting the Doppler velocity measurement noise, Δ ν, of the probe bp＝υpa-υpbRepresenting a disturbance term delta upsilon caused by the spectral frequency fluctuation of the solar light after differencem＝υma-υmbRepresenting the doppler velocity measurement noise after the difference.
Wherein, the step 3 further comprises: taking differential Doppler velocity as a measure Z2＝[Δvr]Establishing a differential Doppler velocity measurement model as follows:
Z2＝h2[X(t),t]+V2(t) (7)
wherein h is2(g) Non-linear continuous measurement function, V, representing differential Doppler velocity2(t) represents a measurement error of the differential Doppler velocity at time t.
Wherein, the step 4 specifically comprises: let two solar photons be at t0At a time, away from the surface of the sun, a photon travels along a path, t1The moment is captured by a detector a, and the position of the detector a relative to the sun is ra,1The other photon propagates along path two, at t2The moment is captured by a detector b, and the position of the detector b relative to the sun is rb,2At t2The position of the time detector a relative to the sun is ra,2The inter-satellite time delay is measured as follows:
Figure BDA0002589972600000091
where Δ t represents the inter-satellite time delay measurement, c represents the speed of light, ra,1Is shown at t1The position of the time detector a relative to the sun, rb,2Is shown at t2The position of the moment detector b relative to the sun;
the position of detector a relative to the sun is represented by the orbital dynamics equation for detector a as follows:
ra,1＝f′a(ra,2,Δt) (9)
wherein r isa,1Is shown at t1The position of the time detector a relative to the sun, ra,2Is shown at t2Time detector a is oppositePosition of the sun, fa(ra,2Δ t) represents the orbital dynamics equation of the probe a, fa′(ra,2Δ t) denotes fa(ra,2Δ t), Δ t representing an inter-satellite time delay measurement;
the implicit function of Δ t is as follows:
Figure BDA0002589972600000092
wherein c represents the speed of light, rb,2Is shown at t2The position of the time detector b relative to the sun, ra,1Is shown at t1The position of the time detector a relative to the sun, Δ t, represents an inter-satellite time delay measurement.
Wherein, the step 4 further comprises: taking the inter-satellite time delay as a measure Z3＝[Δt]Establishing an inter-satellite time delay implicit measurement model as follows:
0＝h3(X,Z3-V3) (11)
wherein h is3(g) Non-linear implicit measurement function, V, representing the time delay between stars3Indicating the measurement error of the inter-satellite time delay.
Wherein, the step 5 specifically comprises: when no inter-satellite time delay measurement is carried out, time updating is carried out through a system state model according to a fixed filtering period, measurement updating is carried out through a sun direction vector measurement model and a differential Doppler velocity measurement model, state estimation and error covariance estimation of a detector are obtained through implicit unscented Kalman filtering, and navigation information is obtained; when inter-satellite time delay measurement is obtained, time updating is carried out through a system state model according to a fixed filtering period, measurement updating is carried out through an inter-satellite time delay measurement model, state estimation and error covariance estimation are obtained through implicit unscented Kalman filtering, and navigation information is obtained.
According to the autonomous navigation method for the deep space probe based on the inter-satellite time delay measurement, when the inter-satellite time delay measurement is not available, time updating is carried out through a system state model in a fixed filtering period, measurement updating is carried out through a sun direction vector measurement model and a differential Doppler velocity measurement model, state estimation and error covariance estimation are obtained through implicit unscented Kalman filtering, therefore position and velocity estimation information of the probe is obtained, and high-precision autonomous navigation of the deep space probe is achieved; when inter-satellite time delay measurement is carried out, time updating is carried out through a system state model according to a fixed filtering period, measurement updating is carried out through an inter-satellite time delay measurement model, state estimation and error covariance estimation are obtained through implicit unscented Kalman filtering, therefore, position and speed estimation information of the detector is obtained, and high-precision autonomous navigation of the deep space detector is achieved.
According to the autonomous navigation method of the deep space probe based on the inter-satellite time delay measurement, disclosed by the embodiment of the invention, when a deep space probe task at a longer distance is carried out, high-precision navigation information of the probe is autonomously obtained, the operation cost is reduced, and the requirement of high-precision real-time navigation of the future deep space probe task can be met.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (8)

1. A deep space probe autonomous navigation method based on inter-satellite time delay measurement is characterized by comprising the following steps:
step 1, taking the positions and the speeds of two detectors flying in formation as system state quantities, and establishing a system state model according to track dynamics;
step 2, obtaining sun direction vector quantity measurement through a sun sensor, and establishing a sun direction vector measurement model according to the sun direction vector quantity measurement;
step 3, respectively obtaining solar spectrum frequency shifts through atom frequency discriminators of two detectors flying in formation, obtaining the radial speed of the detectors relative to the sun according to the solar spectrum frequency shifts, obtaining differential Doppler velocity measurement through the radial speed difference of the two detectors relative to the sun, and establishing a differential Doppler velocity measurement model according to the differential Doppler velocity measurement;
step 4, respectively observing sunlight through atom frequency discriminators on the two detectors, obtaining time delay measurement of the sunlight reaching the two detectors, and establishing an inter-satellite time delay measurement model according to the time delay measurement;
step 5, obtaining the position and speed information of the detector through implicit unscented Kalman filtering;
the step 3 specifically includes:
in order to eliminate the influence of solar spectrum frequency fluctuation on Doppler velocity measurement, solar spectrum frequency shifts are respectively obtained by using atomic frequency discriminators of two detectors flying in formation, the radial velocity of the detectors relative to the sun is obtained through the solar spectrum frequency shifts, and differential Doppler velocity measurement is obtained by differentiating the radial velocities of the two detectors relative to the sun as follows:
Figure FDA0003271726970000011
wherein, Δ vrRepresenting differential Doppler velocity measurements, vraRepresenting the radial velocity measurement, v, of the detector a relative to the sunrbRepresenting the radial velocity measurement, r, of the detector b relative to the sunaIndicating the position of the detector a relative to the sun, vaRepresenting the velocity vector of detector a relative to the sun, rbIndicating the position of the detector b relative to the sun, vbRepresenting the velocity vector, u, of the detector b relative to the sunpaRepresenting a disturbance term upsilon caused by solar spectrum frequency fluctuation to a detector apbRepresenting a disturbance term upsilon caused by solar spectrum frequency fluctuation to a detector bmaDoppler velocity measurement noise, upsilon, indicative of probe ambRepresenting the Doppler velocity measurement noise, Δ ν, of the probe bp＝υpa-υpbRepresenting a disturbance term delta upsilon caused by the spectral frequency fluctuation of the solar light after differencem＝υma-υmbRepresenting the Doppler velocity measurement noise after the difference;
the step 5 specifically includes:
when no inter-satellite time delay measurement is carried out, time updating is carried out through a system state model according to a fixed filtering period, measurement updating is carried out through a sun direction vector measurement model and a differential Doppler velocity measurement model, state estimation and error covariance estimation of a detector are obtained through implicit unscented Kalman filtering, and navigation information is obtained; when inter-satellite time delay measurement is obtained, time updating is carried out through a system state model according to a fixed filtering period, measurement updating is carried out through an inter-satellite time delay measurement model, state estimation and error covariance estimation are obtained through implicit unscented Kalman filtering, and navigation information is obtained.
2. The deep space probe autonomous navigation method based on inter-satellite time delay measurement as claimed in claim 1, wherein the step 1 specifically comprises:
the positions and velocities of two detectors flying in formation are taken as system state quantities as follows:
Figure FDA0003271726970000021
wherein, Xa＝[ra va]T，raIndicating the position of the detector a relative to the sun, vaRepresenting the velocity vector, X, of detector a relative to the sunb＝[rb vb]T，rbIndicating the position of the detector b relative to the sun, vbRepresenting the velocity vector of detector b relative to the sun.
3. The deep space probe autonomous navigation method based on inter-satellite time delay measurement according to claim 2, wherein the step 1 further comprises:
the system state model, as follows:
Figure FDA0003271726970000022
wherein r isaIndicating the position of the detector a relative to the sun, vaRepresenting the velocity vector of detector a relative to the sun, rbIndicating the position of the detector b relative to the sun, vbRepresenting the velocity vector of detector b relative to the sun,
Figure FDA0003271726970000023
are respectively ra、va、rb、vbThe derivative of (d), represents the 2 norm of the vector, μ | | · | |sDenotes the gravitational constant of the sun, waRepresenting process noise, w, caused by various disturbances to the detector abRepresenting process noise caused by various disturbances to which the detector b is subjected;
formula (3) is represented as follows:
Figure FDA0003271726970000031
wherein the content of the first and second substances,
Figure FDA0003271726970000032
the derivative of the state quantity X is marked,
Figure FDA0003271726970000033
representing time t
Figure FDA0003271726970000034
f (x (t), t) represents the system nonlinear state transfer function, w ═ 0 wa 0 wb]TRepresenting the system process noise vector, w (t) represents w at time t.
4. The deep space probe autonomous navigation method based on inter-satellite time delay measurement as claimed in claim 3, wherein the step 2 specifically comprises:
the sun sensor is used for obtaining direction vectors of the sun relative to the two detectors, and the sun direction vectors are used as measurement quantities, and the measurement quantities are as follows:
Figure FDA0003271726970000035
wherein s isaRepresenting the sun direction vector, s, obtained by detector abRepresenting the sun direction vector, r, obtained by detector baIndicating the position of the detector a relative to the sun, rbIndicating the position of detector b relative to the sun.
5. The deep space probe autonomous navigation method based on inter-satellite time delay measurement according to claim 4, wherein the step 2 further comprises:
measuring Z by taking the sun direction vector as a quantity1＝[sa sb]TAnd establishing a sun direction vector measurement model as follows:
Z1＝h1[X(t),t]+V1(t) (6)
wherein h is1(. a) a non-linear continuous measurement function, V, of the vector of the solar direction1(t) represents the measurement noise of the solar direction vector at time t.
6. The deep space probe autonomous navigation method based on inter-satellite time delay measurement according to claim 1, wherein the step 3 further comprises:
taking differential Doppler velocity as a measure Z2＝[Δvr]Establishing a differential Doppler velocity measurement model as follows:
Z2＝h2[X(t),t]+V2(t) (7)
wherein h is2(. V) a non-linear continuous measurement function of differential Doppler velocity2(t) represents a measurement error of the differential Doppler velocity at time t.
7. The deep space probe autonomous navigation method based on inter-satellite time delay measurement as claimed in claim 6, wherein the step 4 specifically comprises:
let two solar photons be at t0At a time, away from the surface of the sun, a photon travels along a path, t1The moment is captured by a detector a, and the position of the detector a relative to the sun is ra,1The other photon propagates along path two, at t2The moment is captured by a detector b, and the position of the detector b relative to the sun is rb,2At t2The position of the time detector a relative to the sun is ra,2The inter-satellite time delay is measured as follows:
Figure FDA0003271726970000041
where Δ t represents the inter-satellite time delay measurement, c represents the speed of light, ra,1Is shown at t1The position of the time detector a relative to the sun, rb,2Is shown at t2The position of the moment detector b relative to the sun;
the position of detector a relative to the sun is represented by the orbital dynamics equation for detector a as follows:
ra,1＝f′a(ra,2,Δt) (9)
wherein r isa,1Is shown at t1The position of the time detector a relative to the sun, ra,2Is shown at t2The position of the time detector a relative to the sun, fa(ra,2And delta t) represents the orbital dynamics equation, f 'of detector a'a(ra,2Δ t) denotes fa(ra,2Δ t), Δ t representing an inter-satellite time delay measurement;
writing equation (8) in the form of an implicit function, as follows:
Figure FDA0003271726970000042
wherein c represents the speed of light, rb,2Is shown at t2The position of the time detector b relative to the sun, ra,1Is shown at t1The position of the time detector a relative to the sun, Δ t, represents an inter-satellite time delay measurement.
8. The deep space probe autonomous navigation method based on inter-satellite time delay measurement according to claim 7, characterized in that said step 4 further comprises:
taking the inter-satellite time delay as a measure Z3＝[Δt]Establishing an inter-satellite time delay implicit measurement model as follows:
0＝h3(X,Z3-V3) (11)
wherein h is3(. a) a non-linear implicit measurement function, V, representing the inter-satellite time delay3Indicating the measurement error of the inter-satellite time delay.
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