CN101308024A - Orbit movement target parameter estimation system based on transient relative model - Google Patents

Abstract

Disclosed is a motion parameter estimation system for orbital maneuver targets based on a transient relative model, which belongs to the mechanics and control fields, wherein: an input information preprocessing module preprocesses the input information for providing the compatible real-time measurement and time-varying parameter information to a transient relative model module, the transient relative model module updates the input measurement content and time-varying parameters of the transient model in real time at the moment of measurement and sampling for feeding the updated model into a relative state estimation module, and the relative state estimation module obtains a relative state estimated value, one path of the relative state estimated value serves as the relative state output and the other path thereof is fed into a target maneuver identification module to make a one-step prediction of relative state through sampling delay, and the target maneuver estimated value output is obtained by using the maneuver parameter variable equation, thereby judging relative motion conditions accurately in real time. The system is also applicable to targets running on unknown tracks in unknown maneuver conditions, thereby benefiting achievements of such space tasks as long-term autonomous monitoring and tracking for maneuvering targets.

Description

Orbit movement target parameter estimation system based on the transient state relative model

Technical field

The present invention relates to the navigational system in a kind of mechanics and control field, specifically, is a kind of orbit movement target parameter estimation system based on the transient state relative model.

Background technology

Obtaining in rail spacecraft relative motion rule and have significant application value, is the prerequisite that realizes space low coverages operations such as intersection butt joint, interception, position maintenance.And the relative motion rule mainly is embodied in relevant kinematic parameter, and as relative position, speed, motor-driven isovector, therefore, the key of grasping space relative motion rule is exactly the estimating system of setting up kinematic parameter.

At present the equal default objects spacecraft orbit of kinematic parameter estimating system knows that promptly target is in the free movement track, or flight under known motor-driven and perturbation.For the known relative navigation problem of this orbital motion situation, usually choose passive space vehicle as primary, its orbit is as the reference track, set up the relative motion model in card Deere rectangular coordinate, polar coordinates or orbital tracking space, and by state estimation algorithms such as Kalman filterings, final relative position and the relative velocity Vector Message of obtaining reflects relative motion rule between spacecraft with this.Yet in real process, as the intersection target at the rail spacecraft owing to multiple reason, exist the unknown motor-driven or possibility of disturbance significantly takes place, this moment, pursuit spacecraft was for realizing the low coverage operation task, need respond to target maneuver and carry out the timely correction of relative status, so two stars will maneuvering flight under the non-Keplerian orbit that is uncertain of in advance.Because the existence of motor-driven vector, target track knows that the basic premise of this acquiescence no longer sets up, therefore, and for this general situation that more gears to actual circumstances, existing movement estimation system and each module thereof can not be suitable for, thereby demonstrate certain limitation on using.

Find through literature search prior art, Xue D. and Cao X.B. are at " IEEE Proceedings ofInternational Conference on Machine Learning and Cybernetics " (IEEE machine learning and kybernetics international conference) (pp.721-726,2006) delivered " Relative NavigationWith Maneuvers Using A Suboptimal Fading Extended Kalman Filter " (based on fade relative air navigation aid of maneuvering target of EKF of suboptimum) on, a kind of unknown motor-driven motion parameters estimation method of target existence of having considered is proposed in this article, cause in target maneuver under the situation of relative orbit variation, with the pursuit spacecraft is primary, uses the expanded Kalman filtration algorithm that fades that relative status is estimated.Yet its weak point is, it is motor-driven that this article thinks that the pursuit spacecraft as primary does not exist, and this hypothesis is not always set up in actual environment.In in space antagonism, pursuit spacecraft must be made significant response to the target maneuver that detects, and this is the important embodiment of spatial operation and viability just, will produce material impact to roomage state.For this reason, consider unknown orbit maneuver of passive space vehicle and the simultaneous possibility of pursuit spacecraft Passive Control, not only be necessary rationally to rebuild relative model, also need on the basis of determining relative position and speed, target maneuver to be estimated.Specifically, kinematic parameter estimates to have three key elements, is respectively metric data, the relative motion model of set type, and filtering algorithm.Target track is uncertain of this prerequisite essence and is embodied in the influence to model.On the one hand, filtering algorithm is main means of extracting required kinematic parameter from metric data, but its important base is the state-transition matrix of relative motion model.Yet, traditional relative model will contain the unknown motor-driven parameter that reflects target maneuver this moment, how accurately to obtain kinematic parameters such as relative position, relative velocity and target maneuver by its state-transition matrix for this model that contains unknown parameter, existing document does not take in.On the other hand, relative model needs reference orbit and reference frame as basic framework, because two star tracks are all unknown in advance, traditional major-minor luck row track and coordinate system thereof have uncertainty, so the model reference framework also need be different from the prior art document and need be set in addition.

Summary of the invention

The objective of the invention is to overcome the deficiencies in the prior art, a kind of orbit movement target parameter estimation system based on the transient state relative model is provided, strengthen the ability that complicated track target long term monitoring is followed the tracks of.

The present invention is achieved by the following technical solutions, the present invention includes following four modules: the input information pretreatment module, transient state relative model module, relative status estimation module and target maneuver recognition module, pursuit spacecraft utilization inertial navigation set obtains its absolute navigation information, and use spaceborne detecting devices to obtain and target between the relative quantity measurement information, the input information pretreatment module is carried out the pre-service of coordinate coupling to these information, form the reference measurement compatible mutually with the osculating orbit transient model, send into transient state relative model module with pursuit spacecraft in the lump about the navigation information of preliminary orbit subsequently, transient state relative model module is carried out real-time update to the measurement input and the time-varying parameter of transient model in the measurement sampling instant, and continuous more new model is sent into the relative status estimation module, relative status estimation module utilization freeze-off time method and filtering algorithm obtain the relative status valuation, this valuation one tunnel is exported as relative status, one the tunnel sends into the target maneuver recognition module, the target maneuver recognition module keeps this road signal sampling, and obtain next sampling instant relative status predicted value by the one-step prediction algorithm, utilize motor-driven parametric variable equation to obtain target maneuver valuation output again, thereby the relative motion situation is made in real time judgement accurately.

Described input information pretreatment module is carried out pre-service to input information, for transient state relative model module provides compatible real-time measurement and time-varying parameter information.This module is input with pursuit spacecraft inertial navigation information and relative quantity measurement information, utilize preliminary orbit parameter recursion pairing initial rail state of arbitrary moment, and coordinate coupling is carried out in relative measurement based on inertial navigation information, that is: be transformed on the local coordinate system of pursuit spacecraft preliminary orbit (LVLH0) from the local coordinate system of pursuit spacecraft (LVLH1), measure by spherical coordinates again and be converted to card Deere coordinate measure.

Described transient state relative model module is the mathematical description to target and pursuit spacecraft relative motion system, its model that provides is a reference frame with the local coordinate system of pursuit spacecraft preliminary orbit (LVLH0), describes the relative motion rule of any instantaneous moment based on osculating orbit.This module is by the sampling measurement parameters of the input real-time update model of LVLH0 rectangular coordinate measurement, input real-time update model by corresponding moment initial rail state the time become orbit parameter, for relative status estimation module and target maneuver recognition module supply a model and information source.

Described transient state relative model is the description of relative motion between the instantaneous moment spacecraft.The osculating orbit of orbit maneuver spacecraft any time all can be thought the free-running operation track, and therefore two orbit maneuver spacecrafts are at instantaneous moment, and their relative motion can be represented by the free movement relative model, i.e. the transient state relative model.

Described relative status estimation module reads the transient model of current time from transient state relative model module, the operate time freezing process is processed into the freeze-off time model of current time in a measurement sampling period, based on this model, pretreated current time measurement information is carried out filtering, the valuation of output relative status.

Described target maneuver recognition module keeps the output of previous moment relative status estimation module, it is carried out one-step prediction, read the output of current time relative status estimation module simultaneously, deliver to motor-driven parametric variable equation in the lump, it is separated and is target maneuver valuation output.

Described motor-driven parametric variable equation is described the vector correlation between the variable quantity of the unknown motor-driven state variable that causes that target and pursuit spacecraft exist.In a sampling period, the difference of the motor-driven pursuit spacecraft state variation vector that causes of passive space vehicle state variation vector that the current time target maneuver causes and pursuit spacecraft is current time relative status vector poor to the forecast of next sampling instant and relative status vector that next is actual constantly, and target is the motor-driven vector of this sampling instant at the velocity variable in sampling period.

The present invention is directed to track and have unknown motor-driven spacecraft Problem of Relative Movement, a general kinematic parameter estimating system is provided, can when the unknown motor-driven and pursuit spacecraft servo-actuated of target, effectively obtain relative position, relative velocity and target maneuver isovector parameter.In existing navigational system, range of application obtains expanding, even if know that in target the situation of motor-driven or free flight is suitable equally, therefore also has generality.It is pointed out that since be subjected to model error, filtering dynamically, the influence of noise residual error and discrete sampling, there is the deviation of stable convergence in the valuation of being exported, and the entire system performance is not constituted a threat to.

Compared with prior art, the present invention has following beneficial effect: the present invention has considered the unknown orbit maneuver that target may exist in the spacecraft relative motion, have application space widely.Can not only be used for intersection operations such as traditional butt joint that knows the track passive space vehicle, interception, maintenance, particularly the target that is uncertain of on the track for operating in of motor-driven situation the unknown also can be suitable for, and is beneficial to realize the space tasks such as long-term autonomous monitoring tracking of maneuvering target.Under flexible spatial target day by day and complicated space environment, the significant and using value of this lifting for spacecraft survivability and functipnal capability.

Description of drawings

Fig. 1 sets up the coordinate frame of reference figure of relative model for the present invention.

The vector correlation figure of Fig. 2 motor-driven parametric variable equation for the present invention sets up.

Fig. 3 is a system architecture diagram of the present invention.

Fig. 4 is that the unknown of target star is motor-driven among the embodiment, follows the trail of the relative position tracking effect of star free flight;

Wherein, (a) be true value and valuation relatively; (b) be the valuation graph of errors.

Fig. 5 is that the unknown of target star is motor-driven among the embodiment, follows the trail of the relative velocity tracking effect of star free flight;

Wherein, (a) be true value and valuation relatively; (b) be the valuation graph of errors.

Fig. 6 is that the unknown of target star is motor-driven among the embodiment, follows the trail of the target maneuver tracking effect of star free flight;

Wherein, (a) be true value and valuation relatively; (b) be the valuation graph of errors.

Fig. 7 is that the unknown of target star is motor-driven among the embodiment, follows the trail of the relative position tracking effect of the controlled flight of star;

Wherein, (a) be true value and valuation relatively; (b) be the valuation graph of errors.

Fig. 8 is that the unknown of target star is motor-driven among the embodiment, follows the trail of the relative velocity tracking effect of the controlled flight of star;

Wherein, (a) be true value and valuation relatively; (b) be the valuation graph of errors.

Fig. 9 is that the unknown of target star is motor-driven among the embodiment, follows the trail of the target maneuver tracking effect of the controlled flight of star;

Wherein, (a) be true value and valuation relatively; (b) be the valuation graph of errors.

Embodiment

Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.

Present embodiment two star original state such as tables 1.

Table 1 inertial space original state

Relative position standard deviation 1m, relative velocity standard deviation 0.1m/s.The noise criteria difference 1m of distance measuring, angular standard difference 0.001rad measures sampling period 0.5s.Radially and vertically there was 0.5m/s in passive space vehicle in the 300th second ²Motor-driven continuously, continue 5 minutes.When following the trail of the controlled flight of star, motor-driven situation is given, and is identical with target.

Present embodiment starting condition and variable-definition are as follows.

Given tracking star initial time does not have the inertial space original state X under the control flight _C ^ECI(t ₀) or orbit parameter, the initial time relative status

State variance P (t ₀).Measurement noise is the zero-mean white Gaussian noise, and uncorrelated with relative status, i.e. E ξ (t)=O, var ξ (t)=R, E[ξ (t) X ^T(t)]=O.In each sampling instant, measure Z (t) relatively, follow the trail of the autonomous inertial navigation mode X of star _C ^ECI(t) and follow the trail of star control vector U _C(t) be input variable, the relative status of output LVLH0

With the valuation of target maneuver vector

As shown in Figure 3, the present embodiment system comprises: input information pretreatment module, transient state relative model module, relative status estimation module and target maneuver recognition module.Pursuit spacecraft inertial navigation information and relative quantity measurement information are input to pretreatment module, connect transient state relative model module, relative status estimation module and target maneuver recognition module subsequently successively, and back two modules are exported relative status and target maneuver value respectively.

1. input information pretreatment module;

By pursuit spacecraft initial time inertial navigation information X _C ^ECI(t ₀) determine the orbit parameter of preliminary orbit, by the current t of Kepler orbit equation recursion reference orbit inertial space state X constantly _C ^0ECI(t).

Utilize X _C ^0ECI(t) in conjunction with t moment inertial navigation information X _C ^ECI(t) measure the coordinate conversion of Z (t) and noise ξ (t) relatively, as shown in Figure 1, the source measurement information is always on the local coordinate system LVLH1 that follows the trail of star actual motion track, and system is a reference data with the local coordinate system LVLH0 that follows the trail of star initial launch track, so be transformed into the LVLH0 coordinate system through ECI from the LVLH1 coordinate system:

$Z^0\left(t\right)={\left(I_{\mathrm{\&Omega;}}\left({\mathrm{<figure-callout\; id="0"\; label="X\; C"\; filenames="A20081004015100131.png,A20081004015100132.png"\; state="\{\{state\}\}">X</figure-callout>}}_C^{}\right)I_i\left({\mathrm{<figure-callout\; id="0"\; label="X\; C"\; filenames="A20081004015100131.png,A20081004015100132.png"\; state="\{\{state\}\}">X</figure-callout>}}_C^{}\right)I_{\mathrm{\&theta;}}\left({\mathrm{<figure-callout\; id="0"\; label="X\; C"\; filenames="A20081004015100131.png,A20081004015100132.png"\; state="\{\{state\}\}">X</figure-callout>}}_C^{}\right)\right)}^{-1}{I}_{\mathrm{\&Omega;}}\left(X_C^{\mathrm{ECI}}\right)I_i\left(X_C^{\mathrm{ECI}}\right)I_{\mathrm{\&theta;}}\left(X_C^{\mathrm{ECI}}\right)Z\left(t\right)$

${\mathrm{\&zeta;}}^0\left(t\right)={\left(I_{\mathrm{\&Omega;}}\left({\mathrm{<figure-callout\; id="0"\; label="X\; C"\; filenames="A20081004015100131.png,A20081004015100132.png"\; state="\{\{state\}\}">X</figure-callout>}}_C^{}\right)I_i\left({\mathrm{<figure-callout\; id="0"\; label="X\; C"\; filenames="A20081004015100131.png,A20081004015100132.png"\; state="\{\{state\}\}">X</figure-callout>}}_C^{}\right)I_{\mathrm{\&theta;}}\left({\mathrm{<figure-callout\; id="0"\; label="X\; C"\; filenames="A20081004015100131.png,A20081004015100132.png"\; state="\{\{state\}\}">X</figure-callout>}}_C^{}\right)\right)}^{-1}{I}_{\mathrm{\&Omega;}}\left(X_C^{\mathrm{ECI}}\right)I_i\left(X_C^{\mathrm{ECI}}\right)I_{\mathrm{\&theta;}}\left(X_C^{\mathrm{ECI}}\right)\mathrm{\&xi;}\left(t\right)$

Z (t)=[ρ α β] wherein ^T, Z ⁰(t)=[ρ ⁰α ⁰β ⁰] ^T, difference corresponding relative distance, position angle and angular altitude component.And

$I_{\mathrm{\&Omega;}}=\left[\begin{array}{ccc}\cos \mathrm{\&Omega;}& -\sin \mathrm{\&Omega;}& 0\\ \sin \mathrm{\&Omega;}& \cos \mathrm{\&Omega;}& 0\\ 0& 0& 1\end{array}\right],I_i=\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos i& -\sin i\\ 0& \sin i& \cos i\end{array}\right],I_{\mathrm{\&theta;}}=\left[\begin{array}{ccc}\cos \mathrm{\&theta;}& -\sin \mathrm{\&theta;}& 0\\ \sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}& 0\\ 0& 0& 1\end{array}\right]$

$A=y\stackrel{\&CenterDot;}{z}-z\stackrel{\&CenterDot;}{y},B=z\stackrel{\&CenterDot;}{x}-x\stackrel{\&CenterDot;}{z},C=x\stackrel{\&CenterDot;}{y}-y\stackrel{\&CenterDot;}{x}$

$\mathrm{\&Omega;}={\tan }^{-1}(-\frac{A}{B}),i={\tan }^{-1}\left(\frac{\sqrt{A^2+B^2}}{C}\right),$ $\mathrm{\&theta;}={\tan }^{-1}\frac{z/\sin i}{x\cos \mathrm{\&Omega;}+y\sin \mathrm{\&Omega;}}$

Spherical coordinate system is measured transformation result again and project to card Deere rectangular coordinate system, output is with reference to measuring relatively:

$Y\left(t\right)=h\left(Z^0\left(t\right)\right)=\left[\begin{array}{c}{\mathrm{\&rho;}}^0\cos {\mathrm{\&alpha;}}^0\cos {\mathrm{\&beta;}}^0\\ {\mathrm{\&rho;}}^0\cos {\mathrm{\&alpha;}}^0\sin {\mathrm{\&beta;}}^0\\ {\mathrm{\&rho;}}^0\sin {\mathrm{\&alpha;}}^0\end{array}\right]$

2. transient state relative model module;

X by current time _C ^0ECI(t) the Kepler orbital tracking of derivation correspondence reads this moment with reference to measuring relatively, and the time-varying parameter to transient state relative model self upgrades with the measurement input value in the lump.

The transient state relative model is as follows

$\left\{\begin{array}{c}\stackrel{\&CenterDot;}{X}\left(t\right)=A\left({\mathrm{\&sigma;}}_C^0\left(t\right)\right)X\left(t\right)\\ Y\left(t\right)=\mathrm{CX}\left(t\right)+{\mathrm{\&xi;}}^0\left(t\right)\end{array}\right.---\left(1\right)$

$A\left({\mathrm{\&sigma;}}_C^0\left(t\right)\right)=\left[\begin{array}{cccccc}& {\mathrm{<figure-callout\; id="3"\; label="O"\; filenames="A20081004015100133.png,A20081004015100143.png"\; state="\{\{state\}\}">O</figure-callout>}}_{3\&times;3}& & & {\mathrm{<figure-callout\; id="3"\; label="I"\; filenames="A20081004015100133.png,A20081004015100143.png"\; state="\{\{state\}\}">I</figure-callout>}}_{3\&times;3}& \\ {\mathrm{\&omega;}\left(t\right)}^2+\frac{2\mathrm{\&mu;}}{r_C{\left(t\right)}^3}& \stackrel{\&CenterDot;}{\mathrm{\&omega;}}\left(t\right)& 0& 0& 2\mathrm{\&omega;}\left(t\right)& 0\\ -\stackrel{\&CenterDot;}{\mathrm{\&omega;}}\left(t\right)& \mathrm{\&omega;}{\left(t\right)}^2-\frac{\mathrm{\&mu;}}{r_C{\left(t\right)}^3}& 0& -2\mathrm{\&omega;}\left(t\right)& 0& 0\\ 0& 0& -\frac{\mathrm{\&mu;}}{r_C{\left(t\right)}^3}& 0& 0& 0\end{array}\right],$ $C={\left[\begin{array}{c}{\mathrm{<figure-callout\; id="3"\; label="I"\; filenames="A20081004015100133.png,A20081004015100143.png"\; state="\{\{state\}\}">I</figure-callout>}}_{3\&times;3}\\ {\mathrm{<figure-callout\; id="3"\; label="O"\; filenames="A20081004015100133.png,A20081004015100143.png"\; state="\{\{state\}\}">O</figure-callout>}}_{3\&times;3}\end{array}\right]}^T$

It is a reference star to follow the trail of star, and following the trail of the star preliminary orbit is reference orbit, reflects that non-Keplerian orbit in current t relative motion rule constantly, is equivalent to long-term model

$\left\{\begin{array}{c}\stackrel{\&CenterDot;}{X}\left(t\right)=A\left({\mathrm{\&sigma;}}_C^0\left(t\right)\right)X\left(t\right)+B(U_T\left(t\right)-U_C\left(t\right))\\ Y\left(t\right)=\mathrm{CX}\left(t\right){\mathrm{\&xi;}}^0\left(t\right)\end{array}\right.---\left(2\right)$

B=[O wherein _{3 * 3}I _{3 * 3}] ^T, U _T(t) being target maneuver, is unknown parameter, U _C(t) motor-driven for following the trail of star, σ _C ⁰And σ _T ⁰Be respectively the orbit parameter of two star preliminary orbits, Z ⁰(t) expression measures the projection of Z (t) in LVLH0 relatively, and Y (t) is the card Deere coordinate of this projection, ξ ⁰(t) be the card Deere projection coordinate of measurement noise in LVLH0.μ is a geocentric gravitational constant, ω,

And r _CBe respectively t and follow the trail of angular velocity, angular acceleration and the earth's core distance of star correspondence on reference orbit constantly.

3. relative status estimation module;

In each sampling period Δ t, model parameter is cured, forms the freeze-off time transient model

$\left\{\begin{array}{c}X\left(t\right)=\mathrm{\&Phi;}(t,t-\mathrm{\&Delta;t})X(t-\mathrm{\&Delta;t})\\ Y\left(t\right)=\mathrm{CX}\left(t\right)+{\mathrm{\&xi;}}^0\left(t\right)\end{array}\right.---\left(3\right)$

$\mathrm{\&Phi;}(t,t-\mathrm{\&Delta;t})=\exp \left\{A\left({\mathrm{\&sigma;}}_C^0(t-\mathrm{\&Delta;t})\right)\mathrm{\&Delta;t}\right\}$

Reference constantly measures Z relatively to t based on this model ⁰(t) carry out state filtering, obtain state output

4. target maneuver recognition module.

As shown in Figure 2, because that two stars exist is motor-driven, a last sampling instant is also inequality to the filter state of current predicted state and current reality, and its phasor difference is equal to the poor of the motor-driven state variation vector that causes of two stars, so there is motor-driven parametric variable equation:

ΔX _T(t-Δt)＝X(t|t)-X(t|t-Δt)+ΔX _C(t-Δt) (4)

Wherein, Δ X represents the state variation amount in the Δ t.

To t-Δ t filtering constantly valuation

And model (3) derivation t forecasts constantly:

$\hat{X}\left(t\right|t-\mathrm{\&Delta;t})=\mathrm{\&Phi;}(t,t-\mathrm{\&Delta;t})\hat{X}(t-\mathrm{\&Delta;t}|t-\mathrm{\&Delta;t})$

Filtering valuation in conjunction with current sampling instant Input (4) in the lump obtains the target maneuver value:

${\hat{U}}_T(t-\mathrm{\&Delta;t})={\left[\mathrm{\&Delta;}{X}_T(t-\mathrm{\&Delta;t})\right]}_V/\mathrm{\&Delta;t}---\left(5\right)$

Wherein, [X] _VSpeed component for state.

In the embodiment of the invention, kinematic parameter comprises the relative status vector

With the target maneuver vector

Can obtain the tracking situation of relative distance and angle to the conversion of spherical coordinates through card Deere coordinate by the location components of relative status.

For the maneuvering target of present embodiment, Fig. 4-6 is for following the trail of the tracking effect under the star free flight, and Fig. 7-9 is in time motor-driven for following the trail of star, the tracking effect under the controlled flight.Solid line is an estimated value, and dotted line is an actual value.The equal bounded of valuation deviation of each kinematic parameter, and comparatively obvious in the target maneuver process.

As shown in Figure 4, test findings shows that the present invention can obtain effective valuation of the unknown maneuvering target relative position of track based on the tracking star of free flight, and in the present embodiment, the site error precision reaches hundred meter levels when target maneuver, reach meter level during stable state.

As shown in Figure 5, test findings shows that the present invention can obtain effective valuation of the unknown maneuvering target relative velocity of track based on the tracking star of free flight, and in the present embodiment, the velocity error precision reaches meter level when target maneuver, reach decimeter grade during stable state.

As shown in Figure 6, test findings shows that the present invention can obtain effective valuation of the motor-driven parameter of the unknown maneuvering target of track based on the tracking star of free flight, and in the present embodiment, motor-driven error precision is in centimetre-sized all the time.

As shown in Figure 7, test findings shows that the present invention can obtain effective valuation of the unknown maneuvering target relative position of track based on the tracking star of controlled flight, and in the present embodiment, the site error precision reaches meter level.

As shown in Figure 8, test findings shows that the present invention can obtain effective valuation of the unknown maneuvering target relative velocity of track based on the tracking star of controlled flight, and in the present embodiment, the velocity error precision reaches centimetre-sized.

As shown in Figure 9, test findings shows that the present invention can obtain effective valuation of the motor-driven parameter of the unknown maneuvering target of track based on the tracking star of controlled flight, and in the present embodiment, motor-driven error precision reaches centimetre-sized.

Claims (7)

1. orbit movement target parameter estimation system based on the transient state relative model, it is characterized in that comprising following four modules: the input information pretreatment module, transient state relative model module, relative status estimation module and target maneuver recognition module, pursuit spacecraft utilization inertial navigation set obtains its absolute navigation information, and use spaceborne detecting devices to obtain and target between the relative quantity measurement information, the input information pretreatment module is carried out the pre-service of coordinate coupling to these information, form the reference measurement compatible mutually with the osculating orbit transient model, send into transient state relative model module with pursuit spacecraft in the lump about the navigation information of preliminary orbit subsequently, transient state relative model module is carried out real-time update to the measurement input and the time-varying parameter of transient model in the measurement sampling instant, and continuous more new model is sent into the relative status estimation module, relative status estimation module utilization freeze-off time method and filtering algorithm obtain the relative status valuation, this valuation one tunnel is exported as relative status, one the tunnel sends into the target maneuver recognition module, the target maneuver recognition module keeps this road signal sampling, and obtain next sampling instant relative status predicted value by the one-step prediction algorithm, utilize motor-driven parametric variable equation to obtain target maneuver valuation output again, thereby the relative motion situation is made in real time judgement accurately.

2. the orbit movement target parameter estimation system based on the transient state relative model according to claim 1, it is characterized in that, described input information pretreatment module is carried out pre-service to input information, for transient state relative model module provides compatible real-time measurement and time-varying parameter information, this module is input with pursuit spacecraft inertial navigation information and relative quantity measurement information, utilize preliminary orbit parameter recursion pairing initial rail state of arbitrary moment, and coordinate coupling is carried out in relative measurement based on inertial navigation information, that is: be transformed on the local coordinate system of pursuit spacecraft preliminary orbit from the local coordinate system of pursuit spacecraft, measure by spherical coordinates again and be converted to card Deere coordinate measure.

3. the orbit movement target parameter estimation system based on the transient state relative model according to claim 1, it is characterized in that, described transient state relative model module is the mathematical description to target and pursuit spacecraft relative motion system, its model that provides is a reference frame with the local coordinate of pursuit spacecraft preliminary orbit, the relative motion rule of any instantaneous moment is described based on osculating orbit, this module is by the sampling measurement parameters of the input real-time update model of LVLH0 rectangular coordinate measurement, input real-time update model by corresponding moment initial rail state the time become orbit parameter, for relative status estimation module and target maneuver recognition module supply a model and information source.

4. according to claim 1 or 3 described orbit movement target parameter estimation systems based on the transient state relative model, it is characterized in that, described transient state relative model is the description of relative motion between the instantaneous moment spacecraft, the osculating orbit of orbit maneuver spacecraft any time is all thought the free-running operation track, therefore two orbit maneuver spacecrafts are at instantaneous moment, their relative motion represented by the free movement relative model, i.e. the transient state relative model.

5. the orbit movement target parameter estimation system based on the transient state relative model according to claim 1, it is characterized in that, described relative status estimation module reads the transient model of current time from transient state relative model module, the operate time freezing process is processed into the freeze-off time model of current time in a measurement sampling period, based on this model, pretreated current time measurement information is carried out filtering, the valuation of output relative status.

6. the orbit movement target parameter estimation system based on the transient state relative model according to claim 1, it is characterized in that, described target maneuver recognition module keeps the output of previous moment relative status estimation module, it is carried out one-step prediction, read the output of current time relative status estimation module simultaneously, deliver to motor-driven parametric variable equation in the lump, it is separated and is target maneuver valuation output.

7. according to claim 1 or 6 described orbit movement target parameter estimation systems based on the transient state relative model, it is characterized in that, described motor-driven parametric variable equation is described the vector correlation between the variable quantity of the unknown motor-driven state variable that causes that target and pursuit spacecraft exist, in a sampling period, the difference of the motor-driven pursuit spacecraft state variation vector that causes of passive space vehicle state variation vector that the current time target maneuver causes and pursuit spacecraft is current time relative status vector poor to the forecast of next sampling instant and relative status vector that next is actual constantly, and target is the motor-driven vector of this sampling instant at the velocity variable in sampling period.

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