CN102116641A - Semi-physical simulation testing system and method for deep space autonomous navigation star sensor - Google Patents
Semi-physical simulation testing system and method for deep space autonomous navigation star sensor Download PDFInfo
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Abstract
The invention provides a semi-physical simulation testing system for a deep space autonomous navigation star sensor and a method thereof. A star sensor simulator is placed on a similar support frame, and an autonomous navigation star sensor is fixed on a three-axis rate rotating table; the center of an entrance pupil of the autonomous navigation star sensor is arranged on a horizontal rotation central axis of the three-axis rate rotating table; an emergent pupil of the star sensor simulator is in butt joint with the entrance pupil of the autonomous navigation star sensor, and an optical axis of the star sensor simulator is superposed with the optical axis of the autonomous navigation star sensor; and the autonomous navigation star sensor, the three-axis rate rotating table and the star sensor simulator are all connected with a control and information processing computer. By adopting the system and the method, star simulation for the very high-precision star sensor for autonomous navigation of a minor planet can be solved, and the measurement precision of the star sensor and the autonomous navigation positioning precision are verified, thereby having broad application prospects for developing the deep space autonomous navigation sensors.
Description
Technical field
The present invention relates to a kind of semi-physical simulation system and method for autonomous deep-space nautical star sensor, it can be applicable to autonomous deep-space navigation optical sensor semi-physical simulation experiment.
Background technology
In the spationautics field, survey of deep space optical guidance Star Sensor is a very high precision star sensor, as: its accuracy requirement 0.5 "; with traditional Star Sensor very big difference is arranged relatively; as the entrance pupil bore is about 150mm, focal length is about 1000m, and field angle is at 1 °～2 °.Such class sensor is mainly discerned the asteroid around the deep space probe section of the cruising track, and definite its position, angle with respect to inertial space, utilize the asteroid almanac data, calculate position and the speed of deep space probe with respect to geocentric inertial coordinate system.
An important ring of survey of deep space optical guidance Star Sensor development process detects its function and performance index exactly, this detection comprises that Static Detection and semi-physical simulation detect, the general textbook of static detection method all has description, the dynamic function of this class star sensor and Performance Detection generally all are the comparison difficulties, the report that does not have the laboratory dynamic testing method at present, a way that adopts outdoor sight star, as U.S. DS-1 Mars probes independent navigation star sensor when the ground experiment, directly adopt the method for outdoor sight star, though the performance that it is certain can be described, but be subjected to the influence and the influence of temperature change of atmospheric agitation, its precision of verifying is interfered, and can not objectively respond the precision of star sensor fully.Also be to adopt outdoor sight star plan-validation sensor combination property during autonomous navigation sensor ground experiment that the mars exploration task of European Space Agency is adopted, also have the problems referred to above certainly.
Here said star sensor is a class optical sensor of determining spacecraft attitude by the imaging measurement fixed star in the method for position, inertial space angle.When Star Sensor is carried out functional check and service check, a kind of common method is to generate star analog imaging target by the fixed star simulator, enter into lens of star sensor, be imaged on the Star Sensor focal plane, according to the target angle range distribution analog imaging star picture that relevant star chart distributes in the space that comes out.
Through investigation and data check, fixed star simulation at present has single star simulator and many star simulators, many star simulators to be divided into static and dynamic two classes again.Static fixed star simulator adopts fixedly star chart and lens imaging, simulation infinity fixed star, and dynamic many star simulators generally adopt liquid crystal light valve as dynamic goal simulator, adopt collimation lens will simulate fixed star and are imaged onto infinity.All present liquid crystal light valve fixed star simulators are subjected to the restriction of fixed star photofit picture outgoing precision, only are used as the functional check of Star Sensor, not as the accuracy test instrument.
Summary of the invention
The invention provides a kind of semi-physical simulation system and method for autonomous deep-space nautical star sensor, it can solve and be used for the very fixed star simulation of high-accuracy and constant star sensor of asteroid independent navigation, the measuring accuracy and the independent navigation bearing accuracy of checking Star Sensor, development has broad application prospects for the autonomous deep-space navigation sensor.
Realize the technical scheme of the object of the invention: a kind of semi-physical simulation system of autonomous deep-space nautical star sensor, it comprises a Star Sensor simulator and an independent navigation star sensor.Described Star Sensor simulator is placed on the simulator bracing frame; Described independent navigation star sensor is fixed on three rate tables, and the entrance pupil center of independent navigation star sensor horizontally rotates on the central shaft at three rate tables; The entrance pupil of the emergent pupil of described Star Sensor simulator and independent navigation star sensor connects, the optical axis coincidence of the optical axis of Star Sensor simulator and independent navigation star sensor; Independent navigation star sensor, three rate tables all are connected with the information processing computing machine with control with the Star Sensor simulator.
The semi-physical simulation system of aforesaid a kind of autonomous deep-space nautical star sensor, the optical axis coincidence of the optical axis of its described independent navigation star sensor and Star Sensor simulator, coincidence error is no more than 2mm; Described the emergent pupil of Star Sensor simulator and the entrance pupil of independent navigation star sensor are connected, error is no more than 5mm.
The semi-physical simulation system of aforesaid a kind of autonomous deep-space nautical star sensor, its described three rate tables impose the angular velocity that moves along three turning axles according to deep space probe attitude stability rule, with three unsteady motions of simulation deep space probe, thereby simulate the image motion that analog variation produced of autonomous navigation sensor along with the detector attitude.
The semi-physical simulation system of aforesaid a kind of autonomous deep-space nautical star sensor, its described control and information processing computing machine are used for the control of three rate tables, and the information that the simulation attitude changes resulting motion smear image is handled.
The semi-physical simulation method of a kind of autonomous deep-space nautical star sensor of the present invention, its step is as follows:
(a) the independent navigation star sensor is installed on three rate tables, guarantees that it changes consistent with angle with the deep space probe attitude around three axle velocities of rotation; The entrance pupil center of independent navigation star sensor is installed to three rate tables horizontally rotates on the central shaft, and make the optical axis of independent navigation star sensor and the optical axis coincidence of Star Sensor simulator, coincidence error is no more than 2mm;
(b) emergent pupil of Star Sensor simulator and the entrance pupil of independent navigation star sensor are connected, error is no more than 5mm;
(c) three rate tables, independent navigation star sensor and Star Sensor simulator are all powered up operation, carry out work by control and three rate tables of information processing computer control, Star Sensor simulator and independent navigation star sensor;
(d) produce fixed star and asteroid infinity image by the simulation of Star Sensor simulator, this image should be consistent at the motion angular velocity of inertial space with deep space probe with respect to the movement angle of Star Sensor simulator entrance pupil;
(e) the independent navigation star sensor obtains several that come from Star Sensor simulator simulation and contains fixed star and asteroidal target image, carry out processing and identification for these images and go out fixed star and asteroid, according to asteroid and fixed star ephemeris and then obtain separately asteroid with respect to the position, angle of inertial space; Utilize the asteroid ephemeris obtain at this very moment asteroid relative point vector and the relative distance between the asteroid, utilize pointing vector that above-mentioned deep space probe measures for asteroid as observed quantity again, adopt Kalman filtering algorithm to carry out determining of deep space probe position.
The semi-physical simulation method of aforesaid a kind of autonomous deep-space nautical star sensor, it carries out l-G simulation test by simulation software on control and information processing computing machine, this simulation software will control three rate tables, Star Sensor simulator and independent navigation star sensor automatically and carry out work, and the information processing result is retained in the computing machine behind the end of run; Described simulation software comprises a master routine and is subjected to 6 subroutine modules of master routine control: master routine is used for System self-test, powers on and resets, the generation of the calling of subroutine, sequential control, navigation simulation data; The time shutter control module that 6 subroutine modules are respectively three rate table control modules, independent navigation star sensor, the star chart of Star Sensor simulator asterism target are selected image processing module, asteroid position determination module and the Upper machine communication module of control module, independent navigation star sensor; Wherein
Three rate table control modules: receive deep space probe attitude variation angular speed and sensing change information that master routine transmits, and control three rate tables and do corresponding servo-actuated operation, make three axles of three rate tables produce to simulate and rotate;
The time shutter control module of independent navigation star sensor: when three rate tables rotate, according to the communication information that host computer is sent the autonomous navigation sensor detector time shutter is imported, and make the independent navigation star sensor carry out image sampling, store in the storer, handle for the image processing module of independent navigation star;
The star chart of Star Sensor simulator asterism target is selected control module: carry out asterism target illumination array control in the Star Sensor simulator according to the default star chart instruction that master routine transmits, make asterism target asterism produce the asterism array of expection, Space Angle position distribution with fixed star in the simulation space, this asterism array distribution will be imaged onto infinity by the Star Sensor simulator, again through the sensor imaging;
The image processing module of independent navigation star sensor: the image that integration sampling became that is kept in the storer for the independent navigation star sensor carries out the crosscorrelation processing fixed star star chart matching treatment asteroid identification processing that the pre-service asterism is discerned, and obtains in the sky district, asteroid place to concern with position, fixed star angle;
Asteroid position determination module: by the fixed star ephemeris with asteroid is capable goes through,, determine the sensing of asteroid at inertial space with asteroid and fixed star and the ephemeris contrast that identifies;
With Upper machine communication module: finish and upper control navigational computer is realized the information bidirectional transmission, obtain the orbit parameter that the switching on and shutting down instruction time shutter is provided with the instruction autonomous navigation simulation from host computer.
Effect of the present invention is:
The semi-physical simulation system and method for autonomous deep-space nautical star sensor of the present invention, it can solve and be used for the very fixed star simulation of high-accuracy and constant star sensor of asteroid independent navigation, the measuring accuracy and the independent navigation bearing accuracy of checking Star Sensor, development has broad application prospects for the autonomous deep-space navigation sensor, whether the precision that can be used for estimating the autonomous deep-space navigation sensor satisfies mission requirements, and this is different with the effect of star simulator in the past.Concrete advantage is:
(1) make complicated autonomous deep-space navigation simulation test in the laboratory, to finish based on optical sensor, the simulation precision height, the data of obtaining are not subjected to atmospheric environment and influence of temperature change, are a kind of reliable methods of star sensor Performance Detection therefore;
(2) very high precision star simulator can the true asteroid of high fidelity simulation and its near zone fixed star to adopt a kind of big visual field, makes the target source of independent navigation test near actual position and brightness, and the observation data of being obtained has credibility;
(3) adopt the three-axis attitude that three rate tables can the emulation deep space probe to change, the test star sensor that it carried will obtain the very high precision observation star chart under the long time shutter, make the star chart of testing laboratory's semi-physical simulation have in the rail picture characteristics, therefore make Flame Image Process and star Pattern Recognition Algorithm, and the asteroid position determines that precision obtains check.
Control of (4) three rate tables and observed quantity extraction all can be finished on a computing machine, make testing program feasibility height.
Description of drawings
Fig. 1 is a kind of autonomous deep-space navigation semi-physical simulation system schematic of the present invention;
Fig. 2 is a Star Sensor simulator structural representation of the present invention;
Fig. 3. be the simulation software functional block diagram.
Among the figure: 1. collimator objective; 2. spectrum groupware; 3. asterism target; 4. detection target; 5. target lighting device; 6. focal plane adjusting mechanism; 7. autocollimation catoptron; 8. independent navigation star sensor; 9. Star Sensor simulator; 10. coincidence pupil; 11. three rate tables; 12. simulator bracing frame; 13. control and information processing computing machine; 14. ground.
Embodiment
Be further described below in conjunction with the semi-physical simulation system and method for the drawings and specific embodiments a kind of autonomous deep-space nautical star sensor of the present invention.
Survey of deep space autonomous navigation sensor semi-physical simulation system and method for the present invention adopts a kind of Star Sensor simulator 9 emulation survey of deep space sections of cruising to go up fixed star and asteroid that independent navigation star sensor 8 observes, be different from the dynamic physical emulation experiment of in the past carrying out the independent navigation Star Sensor in the actual starry sky background of outdoor employing, the present invention can simulate the asteroid and the fixed star of autonomous deep-space navigation in the laboratory.
Survey of deep space autonomous navigation sensor semi-physical simulation of the present invention system is placed on the ground 14, comprise that 9, one in a Star Sensor simulator that is placed on the simulator bracing frame 12 is fixed on three independent navigation star sensors 8 on the rate table 11.The entrance pupil center of independent navigation star sensor 8 horizontally rotates on the central shaft at three rate tables 11.The entrance pupil of the emergent pupil of Star Sensor simulator 9 and independent navigation star sensor 8 connects, the optical axis coincidence of the optical axis of Star Sensor simulator 9 and independent navigation star sensor 8.Independent navigation star sensor 8, three rate tables 11 all are connected with information processing computing machine 13 with control with Star Sensor simulator 9.
Above-mentioned Star Sensor simulator 9 be used to simulate the observable asteroid of the deep space probe section of cruising on the way and near fixed star luminous.It can adopt the applicant to apply for a patent " a kind of simulator of Star Sensor " same period, asterism target 3 is imaged onto by a collimator objective 1 infinity realizes.The concrete structure of Star Sensor simulator 9 as shown in Figure 2, it comprises collimator objective 1, is provided with asterism target 3 on the focal plane of collimator objective 1, by collimator objective 1 asterism target 3 is imaged onto infinity; Asterism target 3 is fixed on the focal plane adjusting mechanism 6 to realize the multiple degrees of freedom adjustment; Target lighting device 5 provides illumination for asterism target 3; Between collimator objective 1 and asterism target 3 spectrum groupware 2 is set, the distance of spectrum groupware 2 and asterism target 3 is greater than the entrance pupil radius of collimator objective 1; Also be provided with detection target 4 in spectrum groupware 2 sides, detection target 4 equates with the centre distance of asterism target 3 to spectrum groupware 2 to the centre distance of spectrum groupware 2; In collimator objective 1 front autocollimation catoptron 7 is set.
Above-mentioned independent navigation star sensor 8 is used for the measurement of the asteroid observed quantity of the survey of deep space section of cruising independent navigation, mainly take the asteroid of the known ephemeris of the section of cruising and fixed star on every side thereof by this sensor, determine the sensing of asteroid by importance in star map recognition at inertial space, can obtain of the sensing of many asteroids through repeatedly taking like this at inertial space, carry out how much according to ephemeris again and resolve with Filtering Processing and obtain orbital position and the speed of deep space probe at inertial space, it can adopt the applicant to apply for a patent " a kind of star sensor " same period.
Three above-mentioned rate tables 11 impose the angular velocity that moves along three turning axles according to deep space probe attitude stability rule, with three unsteady motions of simulation deep space probe, thereby simulate the image motion that analog variation produced of autonomous navigation sensor along with the detector attitude.
Above-mentioned control and information processing computing machine 13 are used for the control of three rate tables 11 and the information processing that the simulation attitude changes resulting motion smear image.The selection of the asterism pattern of may command target lighting device 5 in addition.
The semi-physical simulation method of a kind of autonomous deep-space nautical star sensor of the present invention, its step is as follows:
(a) independent navigation star sensor 8 is installed on three rate tables 11 by frock, guarantee that it changes consistent with angle with attitude around three axle velocities of rotation, the entrance pupil center of independent navigation star sensor 8 is installed to turntable to horizontally rotate on the central shaft, and making the optical axis coincidence of its optical axis and Star Sensor simulator 9, coincidence error is no more than 2mm.
(b) emergent pupil (being the light hurdle of outgoing directional light) of Star Sensor simulator 9 and the entrance pupil of independent navigation star sensor 8 are connected, error is no more than 5mm.
(c) three rate tables 11, independent navigation star sensor 8 and simulator 9 are all powered up operation, undertaken by the control program of control with information processing computing machine 13.The motion control of three rate tables 11 and target conversion be controlled at accomplish on the algorithm unconnected.
(d) adopt the Star Sensor simulator that very exceed ejaculation degree 9 simulations more bigger than independent navigation star sensor field angle to produce fixed star and asteroid infinity image, this image should be consistent at the motion angular velocity of inertial space with deep space probe with respect to the movement angle of Star Sensor simulator 9 entrance pupils.
(e) independent navigation star sensor 8 obtains several that come from Star Sensor simulator 9 simulation and contains fixed star and asteroidal target image, these target images have comprised long-time attitude instability and noise information, handle for these images, identify fixed star and asteroid, according to asteroid and fixed star ephemeris and then obtain separately asteroid with respect to the position, angle of inertial space; Utilize the asteroid ephemeris obtain at this very moment asteroid relative point vector and the relative distance between the asteroid, utilize pointing vector that above-mentioned deep space probe measures for asteroid as observed quantity again, adopt Kalman filtering algorithm to carry out determining of deep space probe position.
On control and information processing computing machine 13, carry out l-G simulation test by simulation software, this simulation software will control three rate tables 11, Star Sensor simulator 9 and independent navigation star sensor 8 automatically and carry out work, and the information processing result is retained in the computing machine behind the end of run.As shown in Figure 3, described simulation software comprises a master routine and is subjected to 6 subroutine modules of master routine control: master routine is used for System self-test, powers on and resets, the generation of the calling of subroutine, sequential control, navigation simulation data; The time shutter control module that 6 subroutine modules are respectively three rate table control modules, independent navigation star sensor, the star chart of Star Sensor simulator asterism target are selected image processing module, asteroid position determination module and the Upper machine communication module of control module, independent navigation star sensor; Wherein
Three rate table control modules: receive deep space probe attitude variation angular speed and sensing change information that master routine transmits, and control three rate tables 11 and do corresponding servo-actuated operation, make 11 3 axles of three rate tables produce to simulate and rotate;
The time shutter control module of independent navigation star sensor: when three rate tables 11 rotate, according to the communication information that host computer is sent the autonomous navigation sensor detector time shutter is imported, and make independent navigation star sensor 8 carry out image sampling, store in the storer, handle for the image processing module of independent navigation star;
The star chart of Star Sensor simulator asterism target is selected control module: control according to default star chart instruction carrying out asterism target 3 illumination arrays that master routine transmits, make asterism target 3 asterisms produce the asterism array of expection, Space Angle position distribution with fixed star in the simulation space, this asterism array distribution will be imaged onto infinity by Star Sensor simulator 9, again through the sensor imaging;
The image processing module of independent navigation star sensor: the image that integration sampling became that is kept in the storer for the independent navigation star sensor carries out the crosscorrelation processing fixed star star chart matching treatment asteroid identification processing that the pre-service asterism is discerned, and obtains in the sky district, asteroid place to concern with position, fixed star angle;
Asteroid position determination module: by the fixed star ephemeris with asteroid is capable goes through,, determine the sensing of asteroid at inertial space with asteroid and fixed star and the ephemeris contrast that identifies;
With Upper machine communication module: mainly finish and upper control navigational computer is realized the information bidirectional transmission, obtain the orbit parameter that the switching on and shutting down instruction time shutter is provided with the instruction autonomous navigation simulation from host computer.
The present invention proposes a kind of star sensor Performance Detection of in the laboratory, carrying out and independent navigation precision test method, adopt this method can change the test method of this type of test in the past (in the past in the outdoor overall performance evaluation of finishing star sensor by means of natural starry sky and earth rotation.Adopt this method can obtain precision test, the physical simulation image that can obtain under the rail attitude changes carries out the independent navigation proof of algorithm.Control by three-axle table realizes the image effect that the attitude instability is brought under the long time shutter.Star chart changes and can be undertaken by the adjusting of asterism target, has avoided the frame per second of liquid crystal light valve simulation to change the simulation uncontinuity influence that brings.
Claims (6)
1. the semi-physical simulation system of an autonomous deep-space nautical star sensor, it comprises a Star Sensor simulator (9) and an independent navigation star sensor (8), it is characterized in that: described Star Sensor simulator (9) is placed on the simulator bracing frame (12); Described independent navigation star sensor (8) is fixed on three rate tables (11), and the entrance pupil center of independent navigation star sensor (8) horizontally rotates on the central shaft at three rate tables (11); The entrance pupil of the emergent pupil of described Star Sensor simulator (9) and independent navigation star sensor (8) connects, the optical axis coincidence of the optical axis of Star Sensor simulator (9) and independent navigation star sensor (8); Independent navigation star sensor (8), three rate tables (11) and Star Sensor simulator (9) all are connected with information processing computing machine (13) with control.
2. the semi-physical simulation system of a kind of autonomous deep-space nautical star sensor according to claim 1, it is characterized in that: the optical axis coincidence of the optical axis of described independent navigation star sensor (8) and Star Sensor simulator (9), coincidence error is no more than that 2mm is described to connect the emergent pupil of Star Sensor simulator (9) and the entrance pupil of independent navigation star sensor (8), and error is no more than 5mm.
3. the semi-physical simulation system of a kind of autonomous deep-space nautical star sensor according to claim 1 and 2, it is characterized in that: described three rate tables (11) impose the angular velocity that moves along three turning axles according to deep space probe attitude stability rule, with three unsteady motions of simulation deep space probe, thereby simulate the image motion that analog variation produced of autonomous navigation sensor (8) along with the detector attitude.
4. the semi-physical simulation system of a kind of autonomous deep-space nautical star sensor according to claim 3, it is characterized in that: described control and information processing computing machine (13) are used for the control of three rate tables (11), and the information that the simulation attitude changes resulting motion smear image is handled.
5. the semi-physical simulation method of an autonomous deep-space nautical star sensor, it is characterized in that: this method step is as follows:
(a) independent navigation star sensor (8) is installed on three rate tables (11), guarantees that it changes consistent with angle with the deep space probe attitude around three axle velocities of rotation; The entrance pupil center of independent navigation star sensor (8) is installed to three rate tables (11) horizontally rotates on the central shaft, and make the optical axis of independent navigation star sensor (8) and the optical axis coincidence of Star Sensor simulator (9), coincidence error is no more than 2mm
(b) emergent pupil of Star Sensor simulator (9) and the entrance pupil of independent navigation star sensor (8) are connected, error is no more than 5mm;
(c) three rate tables (11), independent navigation star sensor (8) and Star Sensor simulator (9) are all powered up operation, carry out work by control and information processing computing machine (13) control three rate tables (11), Star Sensor simulator (9) and independent navigation star sensor (8);
(d) produce fixed star and asteroid infinity image by Star Sensor simulator (9) simulation, this image should be consistent at the motion angular velocity of inertial space with deep space probe with respect to the movement angle of Star Sensor simulator (9) entrance pupil;
(e) independent navigation star sensor (8) obtains several that come from Star Sensor simulator (9) simulation and contains fixed star and asteroidal target image, carry out processing and identification for these images and go out fixed star and asteroid, according to asteroid and fixed star ephemeris and then obtain separately asteroid with respect to the position, angle of inertial space; Utilize the asteroid ephemeris obtain at this very moment asteroid relative point vector and the relative distance between the asteroid, utilize pointing vector that above-mentioned deep space probe measures for asteroid as observed quantity again, adopt Kalman filtering algorithm to carry out determining of deep space probe position.
6. the semi-physical simulation method of a kind of autonomous deep-space nautical star sensor according to claim 5, it is characterized in that: go up with information processing computing machine (13) in control and carry out l-G simulation test by simulation software, this simulation software will control three rate tables (11), Star Sensor simulator (9) and independent navigation star sensor (8) automatically and carry out work, and the information processing result is retained in the computing machine behind the end of run; Described simulation software comprises a master routine and is subjected to 6 subroutine modules of master routine control: master routine is used for System self-test, powers on and resets, the generation of the calling of subroutine, sequential control, navigation simulation data; The time shutter control module that 6 subroutine modules are respectively three rate table control modules, independent navigation star sensor, the star chart of Star Sensor simulator asterism target are selected image processing module, asteroid position determination module and the Upper machine communication module of control module, independent navigation star sensor; Wherein
Three rate table control modules: receive deep space probe attitude variation angular speed and sensing change information that master routine transmits, and control three rate tables and do corresponding servo-actuated operation, make three axles of three rate tables produce to simulate and rotate;
The time shutter control module of independent navigation star sensor: when three rate tables rotate, according to the communication information that host computer is sent the autonomous navigation sensor detector time shutter is imported, and make the independent navigation star sensor carry out image sampling, store in the storer, handle for the image processing module of independent navigation star;
The star chart of Star Sensor simulator asterism target is selected control module: carry out asterism target illumination array control in the Star Sensor simulator according to the default star chart instruction that master routine transmits, make asterism target asterism produce the asterism array of expection, Space Angle position distribution with fixed star in the simulation space, this asterism array distribution will be imaged onto infinity by the Star Sensor simulator, again through the sensor imaging;
The image processing module of independent navigation star sensor: the image that integration sampling became that is kept in the storer for the independent navigation star sensor carries out the crosscorrelation processing fixed star star chart matching treatment asteroid identification processing that the pre-service asterism is discerned, and obtains in the sky district, asteroid place to concern with position, fixed star angle;
Asteroid position determination module: by the fixed star ephemeris with asteroid is capable goes through,, determine the sensing of asteroid at inertial space with asteroid and fixed star and the ephemeris contrast that identifies;
With Upper machine communication module: finish and upper control navigational computer is realized the information bidirectional transmission, obtain the orbit parameter that the switching on and shutting down instruction time shutter is provided with the instruction autonomous navigation simulation from host computer.
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