CN105203101B - A kind of deep space probe capture section astronomical navigation method based on target celestial body ephemeris amendment - Google Patents

A kind of deep space probe capture section astronomical navigation method based on target celestial body ephemeris amendment Download PDF

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CN105203101B
CN105203101B CN201510557631.8A CN201510557631A CN105203101B CN 105203101 B CN105203101 B CN 105203101B CN 201510557631 A CN201510557631 A CN 201510557631A CN 105203101 B CN105203101 B CN 105203101B
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target celestial
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宁晓琳
李卓
房建成
刘刚
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Beihang University
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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
    • 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
    • G01C21/20—Instruments for performing navigational calculations

Abstract

The present invention relates to a kind of deep space probe based on target celestial body ephemeris amendment to capture section astronomical navigation method, initially set up Mars probes state model, starlight angular distance and X-ray pulsar navigation subsystem measurement model, then starlight angular distance and X-ray pulsar measurement are obtained respectively, and filtering estimation obtains position and speed of the detector in day heart inertial coodinate system and target celestial body centered inertial coordinate system；On this basis, establish the state model and measurement model of target celestial body ephemeris error, and the measurement on target celestial body ephemeris error is obtained by the estimated state vector of two navigation subsystems of starlight angular distance and X-ray pulsar, estimate target celestial body ephemeris error using kalman filter method, and feed back in Navigation System Model, the position of target celestial body in navigation model is modified.The invention belongs to aerospace navigation technical field, can On-line Estimation celestial body ephemeris error, correct the model error of navigation system, section captured suitable for detector.

Description

A kind of deep space probe capture section celestial navigation based on target celestial body ephemeris amendment Method
Technical field
It is more particularly to a kind of based on target celestial body ephemeris amendment the present invention relates to when deep space probe is in capture section Deep space probe captures section astronomical navigation method, specifically, it is to be based on target celestial body image and X pulsar signal amendment targets The astronomical navigation method of celestial body ephemeris error, it is a kind of air navigation aid for being highly suitable for deep space probe capture section.
Background technology
Survey of deep space the technology key character and mark horizontal as a national overall national strength and scientific technological advance, Cause the very big concern of countries in the world.Prelude has been pulled open in the fight of new round survey of deep space.At the beginning of 21 century, each space flight is big The deep space universe that state one after another focuses to sight beyond 380,000 kilometers of the earth.The U.S., European Space Agency, Russia, Japan and Main space flight group of the world including India is proposed the survey of deep space plan in future, each major planet and its satellite is carried out Unmanned probing manned or based on robot.Development and economic strength with China's carrier rocket and other survey of deep space technologies Raising, China possessed detection Mars even farther planets of the solar system ability.
Deep space probe flight course mainly includes earth escape, day heart transfer, target acquistion, circular, landing, tour spy The processes such as survey.Wherein capture section refers to be in the overall process of igniting braking since deep space probe enters object effects ball The deep space probe flying speed in the stage is fast, and flight segmental arc is short, and control accuracy requirement is high, and chance is unique.Deep space probe The injection point distance objective planetary surface of retarding braking is very near (perigee), and captured is one of whole survey of deep space task Material time node, the Relative Navigation precision of acquisition phase relative target celestial body and the absolute navigation relative to the sun or the earth Precision has a direct impact to subsequent probe task.But deep space probe capture section headway is fast, space ionization environment not Know, atmospheric environment complexity, these factors all have a great impact to the orbit injection accuracy of deep space probe, also govern survey of deep space It is diversion after device capture, the navigation accuracy in the stage such as land, when orbit injection accuracy, which can not touch the mark, to be required, or even section can not be completed Detection mission is learned, causes the failure of whole task.
Target celestial body almanac data is one of principal element for influenceing deep space probe capture section navigation performance.Target celestial body Almanac data is a kind of celestial body database for describing the features such as target celestial body position, speed, is formed by long-term astronomical observation fitting 's.If a period of time, no astronomical observation information was modified, target celestial body almanac data error can increase with the recursion of time Add.Solar system inner planet ephemeris error current (in addition to the earth) is about 200m~100km.
Traditional survey of deep space navigation mode is mainly ground based radio navigation, such as the Deep Space Network in the U.S., but China due to The reasons such as region can not carry out round-the-clock deep space radionavigation, and radionavigation has the shortcomings of high latency, be easily disturbed. Celestial navigation is a kind of spaceborne full autonomous navigation system, celestial navigation system based on starlight angular distance measurement target celestial body and Its background fixed star image information, so as to obtain the navigation information relative to target celestial body (such as Mars) from image.Based on starlight The astronomical navigation method of angular distance by this limited factor of precision of star sensor due to being influenceed, its relative target celestial body obtained Navigation information limited precision, and influenceed by target celestial body ephemeris error, the relative solar navigation precision obtained by this method is low. Celestial navigation system based on X pulsar information reaches the time difference of the sun and arrival detector by obtaining the pulse of X pulsars To estimate the relative position and velocity information with the sun of detector.X pulsars can obtain high-precision measurement information, but base Update cycle length is measured in the celestial navigation system of X pulsars, it is difficult to realizes real-time navigation.Therefore how both measurements to be utilized The characteristics of information, estimation to the ephemeris error of target celestial body and to detector kinetic model and based on starlight angular distance Measurement model is modified, and reduces the influence of target celestial body ephemeris error, is the pass that survey of deep space section capture section is navigated in high precision One of key problem.
It is autonomous that Chinese patent CN201510197935.8 discloses a kind of capture section deep space probe based on ephemeris amendment Astronomical navigation method, the air navigation aid initially set up target celestial body ephemeris error state model and measurement model, and according to prediction Ephemeris error measurement is obtained with the alternate position spike of actual celestial image；Secondly by ephemeris error state model and dynamics of orbits mould Type simultaneous is as celestial navigation system state model, and using ephemeris error measurement model and starlight angular distance measurement model as astronomy The measurement model of navigation system, using Unscented kalman filter methods, estimation detector position, speed and target celestial body Ephemeris error, and estimated ephemeris error is fed back in state model, target celestial body almanac data is corrected, obtains autonomous school After positive ephemeris error relative to target celestial body and the detector position and speed relative to day heart.The present invention and Chinese patent CN201510197935.8 also belongs to aerospace navigation technical field, can On-line Estimation celestial body ephemeris error, correct navigation system Model error, suitable for detector capture section.Navigation sources used in X pulsar navigations are the X pulsars of naturally occurring, no Disturbed by extraneous factor, belong to entirely autonomous air navigation aid.Rational and efficient use starlight angular distance and X pulsars of the present invention carry The navigation information of confession, capture section for deep space probe and another high-precision full independent combined navigation method is provided.
The content of the invention
The technical problem to be solved in the present invention is：Overcome influence of the ephemeris error to celestial navigation precision, make up existing side Method is difficult to influence of the elimination target celestial body ephemeris error to detector's status model and measurement model, and this is insufficient, rationally effectively sharp The navigation information provided with starlight angular distance and X pulsars, capture section for deep space probe and a kind of high-precision integrated navigation is provided Method.
The technical solution adopted for the present invention to solve the technical problems is：A kind of deep space based on target celestial body ephemeris amendment Detector captures section astronomical navigation method, establishes in day heart inertial coodinate system and is based on too in target celestial body centered inertial coordinate system The deep space probe state model of sun and the eight major planets of the solar system gravitation, establishes the measurement model based on starlight angular distance and X-ray pulsar, Angle information measurement between target celestial body and its satellite and fixed star is obtained by optical guidance sensor, received by X ray Device obtains X-ray pulsar both sides amount, and obtains deep space probe relative target using Unscented kalman filter methods The position and speed parameter of celestial body and the sun；The state model and amount of target celestial body ephemeris error are established based on above-mentioned estimated result Model is surveyed, when there is X-ray pulsar measurement, target day is estimated by starlight angular distance/X-ray pulsar integrated navigation system The estimate of body ephemeris error；In the target celestial body ephemeris only in the filtering cycle of starlight angular distance information, obtained using estimation Error is modified to state model and both sides model, so as to obtain the higher detector position of precision, velocity estimation value.
Specifically include following steps：
1. foundation is based on the sun and the dynamic (dynamical) deep space probe navigation system state model of the eight major planets of the solar system Attractive Orbit
A. deep space probe is established in the inertial coodinate system centered on target celestial body and is based on the sun and the eight major planets of the solar system gravitation The first state model of dynamics of orbits；
In formula, X ' (t)=[x ', y ', z ', v 'x, v 'y, v 'z]TFor state vector, f1(X ' (t), t) connects for mission nonlinear Continuous state transition function, w ' (t)=[w 'x, w 'y, w 'z]TFor state model error.
B. it is dynamic (dynamical) based on the sun and the eight major planets of the solar system Attractive Orbit that deep space probe is established in day heart inertial coodinate system Second state model；
In formula, X (t)=[x, y, z, vx, vy, vz]TFor state vector, f2(X (t), t) is that mission nonlinear continuous state turns Move function, w (t)=[wx, wy, wz]TFor state model error.
2. starlight angular distance and X-ray pulsar measurement model are established respectively
(1) starlight angular distance navigation system measurement model
Target celestial body and the angle information θ of two satellites and three background fixed stars1i、θ2iAnd θ3i(i=1,2,3) expression formula For：
In formula,For in inertial coodinate system target celestial body to detector unit vector,For in inertial coodinate system The unit vector of i-th of fixed star in target celestial body image；For the target celestial body in inertial coodinate system first satellite to visit The unit vector of device is surveyed,For the unit vector of i fixed star in first satellite image of target celestial body in inertial coodinate system；For the second target celestial body in inertial coodinate system satellite to detector unit vector,For in inertial coodinate system The unit vector of i fixed star in second satellite image of target celestial body.
If starlight angular distance navigation subsystem measurement Z1=[θ11, θ12, θ13, θ21, θ22, θ23, θ31, θ32, θ33]T, starlight angle Noise is measured away from navigation subsystem Point θ Wei not measured11, θ12, θ13, θ21, θ22, θ23, θ31, θ32, θ33Observation error, because each variable is all the change relevant with time t Amount, the then expression formula that starlight angular distance navigation subsystem measurement model can be established according to formula (3) are：
Z1(t)=h1[X (t), t]+v1(t) (4)
In formula, h1[X ' (t), t] is the non-linear continuous measurement function of starlight angular distance navigation subsystem.
(2) X-ray pulsar navigation subsystem measurement model
The time that the X-ray pulse of X-ray pulsar transmitting reaches solar system barycenter is obtained by astronomical observation database, X The time that ray pulse reaches detector is obtained by the photon counter on detector, and solar system matter is reached according to X-ray pulse The time difference of the heart and arrival detector is as measurement information.As shown in figure 3, pulse reaches solar system barycenter and reaches detector The projection that time difference is multiplied Ji Wei detector position vector on pulsar direction vector with light velocity c.According to more pulsar arteries and veins The time difference being flushed to up to solar system barycenter and detector can obtain position of the detector under sun geocentric coordinate system.X ray Pulsar measurement model can be described as follows：
Δti=(nix·x+niy·y+niz·z)/c (5)
In formula, Δ tiFor the measurement information of i-th X pulsar, (pulsar pulse reaches solar system barycenter and detector Time difference), i=1,2,3, (nix, niy, niz) it is direction vector of the X-ray pulsar in day heart inertial coodinate system, (x, y, z) For position of the detector under heliocentric coordinates.
If X-ray pulsar navigation subsystem measurement Z2=[Δ t1, Δ t2, Δ t3]T, X-ray pulsar navigation subsystem System measures noiseΔt1, Δ t2, Δ t3The detector X-ray pulsar that respectively detector measurement obtains The time difference of solar system barycenter and detector is reached,Respectively measure Δ t1, Δ t2, Δ t3Observation error, due to Each variable is all the variable relevant with time t, then X-ray pulsar navigation subsystem measurement model can be established according to formula (5) Expression formula is：
Z2(t)=h2[X (t), t]+v2(t) (6)
In formula, h2[X (t), t] is the non-linear continuous measurement function of X-ray pulsar navigation subsystem.
3. the state model and measurement model in pair step 1 and step 2 carry out discretization
X ' (k)=F1(X ' (k-1), k-1)+W ' (k-1) (7)
X (k)=F2(X (k-1), k-1)+W (k-1) (8)
Z ' (k)=H1(X ' (k), k)+V1(k) (9)
Z (k)=H2(X (k), k)+V2(k) (10)
In formula, k=1,2 ..., F1(X ' (k-1), k-1) and F2(X (k-1), k-1) is respectively f1(X ' (t), t) and f2(X (t), t) it is discrete after from the moment of kth -1 to the nonlinear state transfer function at kth moment, H1(X ' (k), k) and H2(X (k), k) point Wei not h1(X ' (t), t) and h2The non-linear measurement function at kth moment, W ' (k), W (k), V after (X (t), t) is discrete1(k), V2 (k) it is respectively w ' (t), w (t), v1And v (t)2(t) equivalent noise at discrete rear kth moment, and W ' (k) and V1(k), W (k) and V2(k) it is orthogonal.
4. the acquisition and processing of starlight angular distance and X-ray pulsar navigation measurement
(1) acquisition and processing of starlight angular distance navigation system measurement
The image of target celestial body is obtained by star sensor, using image processing techniques, determines the pixel of celestial body barycenter as line Coordinate；By being surveyed from pixel as line coordinates system to two-dimensional imaging plane coordinate system, from two-dimensional imaging plane coordinate system to sensor The conversion three times of coordinate system is measured, determines the unit vector of celestial body and its background fixed star in sensor coordinate system；Finally calculate day Starlight angular distance between body unit vector and background fixed star unit vector.
(2) acquisition and processing of X-ray pulsar navigation subsystem measurement
The time that the X-ray pulse of X-ray pulsar transmitting reaches solar system barycenter is obtained by astronomical observation database, X The time that ray pulse reaches detector is obtained by the photon counter on detector, and solar system matter is reached according to X-ray pulse The time difference of the heart and arrival detector is as measurement information.
5. pair starlight angular distance navigation system carries out Unscented Kalman filterings
The measurement obtained according to first state model, starlight angular distance navigation subsystem measurement model, star sensor, is carried out Celestial navigation subsystem Unscented Kalman filterings, obtain and deep space probe position is represented in target celestial body inertial coodinate system Put and the estimated state of speed vectorWith estimation mean squared error matrix
6. pair X-ray pulsar navigation subsystem carries out Unscented Kalman filterings
The amount obtained according to the second state model, X-ray pulsar navigation subsystem measurement model, X ray reception device Measurement, X ray navigation subsystem Unscented Kalman filterings are carried out, obtain and represent that deep space is visited in day heart inertial coodinate system Survey the estimated state vector of device position and speedWith estimation mean squared error matrix Pk。
7. determine a need for carrying out target celestial body ephemeris corrections
When there are X pulsar measurements, carry out fused filtering and target celestial body ephemeris error is estimated and corrected, perform step Rapid 8；When not new X pulsars measurement produces, measurement and a upper amendment cycle were used as by the use of single starlight angular distance The ephemeris error of estimation is modified to target celestial body ephemeris error, perform step 9 target celestial body ephemeris error is modeled, Estimate simultaneously feedback compensation.
8. the ephemeris error of pair target celestial body is estimated and corrected
A. target celestial body ephemeris error state model is established
Its error characteristics in capture section are thought of as constant error, target celestial body ephemeris is established in day heart inertial coodinate system Error state model is：
In formula, For three of target celestial body ephemeris in day heart inertial coodinate system The differential of shaft position error, it can be abbreviated as after discretization：
Xerr(k)=Ferr(Xerr(k-1), k-1)+Werr(k-1) (12)
In formula, state transition function Ferr(Xerr(k-1), k-1)=ΦErr, k, k-1XErr, k-1, ΦErr, k, k-1For kth -1 when It is carved into the state-transition matrix at kth moment, Xerr(k) it is kth moment target celestial body ephemeris error state vector, and Xerr(k)= XErr, k, Werr(k-1) it is the moment of kth -1 target celestial body ephemeris error state model error.
B. target celestial body ephemeris error measurement model is established
The measurement model of target celestial body ephemeris error can be expressed as：
Zerr=H3(Xerr(k), k)+V3 (13)
In formula, H3(Xerr(k), k) be the k moment measurement function, V3Noise is measured for target celestial body ephemeris error.
C. target celestial body ephemeris error measurement is obtained
Target celestial body ephemeris error measurement ZerrIt can be expressed as：
In formula,The position relative to the sun obtained for X-ray pulsar navigation subsystem and speed,For star The position relative to target celestial body and speed that optic angle obtains away from navigation subsystem,It is target celestial body relative to the sun Position and speed, obtained from celestial body almanac data storehouse.
D. Kalman Filter Estimation is carried out to target celestial body ephemeris error
The target celestial body ephemeris error state model and measurement model established according to step A and step B, and step C institutes The target celestial body ephemeris error measurement of acquisition, using kalman filter method, estimates target celestial body ephemeris error, obtains Target celestial body ephemeris error estimated state vector and estimation mean squared error matrix are obtained, it is specific as follows：
The one-step prediction of target celestial body ephemeris error state vector：
In formula,For k-1 moment Mars ephemeris error one-step prediction state vectors.
The estimation mean squared error matrix one-step prediction of target celestial body ephemeris error state vector：
PErr, k/k-1=ΦErr, k, k-1PErr, k-1ΦErr, k, k-1 T+QErr, k (16)
In formula, PErr, k-1For the estimation mean squared error matrix of k-1 moment target celestial body ephemeris error state vectors, QErr, kFor k Moment target celestial body ephemeris error state model error covariance matrix.
Kalman filtering gain
KErr, k=PErr, k/k-1HErr, k T(HErr, kPErr, k/k-1HErr, k T+RErr, k)-1 (17)
In formula, HErr, kFor k moment target celestial body ephemeris error measurement matrixes, HErr, kXErr, k=H3(Xerr, k), RErr, kFor k Moment target celestial body ephemeris error measurement model error covariance matrix.
Target celestial body ephemeris error estimated state vector
In formula, ZErr, kFor k moment target celestial body ephemeris error measurements.
Target celestial body ephemeris error estimates mean squared error matrix,
PErr, k=(I-KErr, kHErr, k)PErr, k/k-1 (19)
In formula, I is unit battle array.
E. feedback compensation is carried out to target celestial body ephemeris error
The target celestial body ephemeris error that will be obtained in step DEstimate mean squared error matrix with target celestial body ephemeris error PErr, kFeed back in the first state model and the second state model of deep space probe, and redefine first state model and The model error covariance matrix of two-state model, finally the model error covariance matrix after correction is inputted to starlight angular distance and navigated In subsystem Unscented Kalman filterings and X-ray pulsar navigation subsystem Unscented Kalman filterings, under amendment The navigation results at one moment.
9. information fusion
Using ephemeris update the system obtain ephemeris error, by the navigation information of X-ray pulsar navigation system change to In inertial coodinate system centered on target celestial body, merged with the navigation information of starlight angular distance navigation system.X-ray sensitive The cycle that device obtains measurement information is longer, and when detector navigation system does not have X-ray pulsar measurement, starlight is used alone Angular distance carries out Unscented Kalman filterings to navigation system, uses the target celestial body ephemeris error estimate pair in a upper cycle The state model and measurement model of starlight angular distance navigation system are modified, and X-ray pulsar navigation subsystem only utilizes second State model carries out time renewal；When detector obtains X-ray pulsar measurement, two navigation subsystems are carried out simultaneously Unscented Kalman filterings；
The final output kth moment represents estimating for detector position and speed in the inertial coodinate system centered on target celestial body State vector and estimation mean squared error matrix are counted, and is gone through according to revised target line star, the result is changed to day heart inertia In coordinate system, the estimated state vector sum estimation mean square error that detector position and speed are represented in day heart inertial coodinate system is exported Poor battle array, these navigation informations are returned in starlight angular distance navigation subsystem and X-ray pulsar navigation subsystem respectively, for k+ The estimation of the position, speed navigation information at 1 moment, k=1,2 ...；
The present invention principle be：The dynamics of orbits model based on the sun and the eight major planets of the solar system gravitation is selected first as system State model, the different characteristics measured according to starlight angular distance and X-ray pulsar, establish respectively used centered on target celestial body Two state models in property coordinate system and day heart inertial coodinate system；Afterwards according to star sensor and the work of X ray reception device Make principle, the measurement measured by star sensor and X-ray pulse receiving apparatus for obtaining and handling；Then, starlight angular distance is established The measurement model of navigation subsystem and X-ray pulsar navigation subsystem；Hereafter, due to the state model and measurement mould of detector Nonlinear characteristic is all presented in type, and system noise is non-Gaussian noise, therefore uses Unscented kalman filter methods, right The detector navigation information of two subsystems is estimated；Secondly as the navigation of starlight angular distance can measure it is high-precision relative Target celestial body navigation information, and X pulsar navigations can measure it is high-precision relative to solar navigation information；Combining target day Body, detector, the geometrical relationship of the sun, it may be determined that the ephemeris of target celestial body, compared with original target celestial body ephemeris, i.e., It can obtain target celestial body ephemeris error measurement；In order to obtain more accurate target celestial body ephemeris error, held with reference to capture section The continuous time is short, target celestial body ephemeris error is capturing the characteristics of section change is small, establishes the shape of capture section target celestial body ephemeris error States model and measurement model, and the characteristics of be all linear model according to target celestial body ephemeris error state model and measurement model, Using kalman filter method, target celestial body ephemeris error is estimated, and estimated target celestial body ephemeris error is fed back to the In one state model and the second state model, target celestial body almanac data is corrected, improves the model accuracy of state model；Finally lead to Information fusion method is crossed, effectively using starlight angular distance navigation subsystem and the metrical information of X-ray pulsar navigation subsystem, is carried The high estimated accuracy to the detector navigation information relative to target celestial body and relative to day heart.
The present invention compared with prior art the advantages of be：Missed using the target celestial body ephemeris estimated by ephemeris corrections process Difference, on the one hand realize and the high accuracy of target celestial body ephemeris error is estimated, while obtain relative target celestial body and relative day The detector high accuracy navigation information of the heart, on the other hand have modified the state model of navigation system, reduces target celestial body ephemeris Influence of the error to state model precision, further increase the navigation accuracy of deep space probe.
Brief description of the drawings
Fig. 1 is that deep space probe of the present invention based on target celestial body ephemeris amendment captures section astronomical navigation method flow chart.
Fig. 2 is the imaging schematic diagram of star sensor used in starlight angular distance navigation subsystem of the present invention.
Fig. 3 is that pulse reaches solar system barycenter and the time difference of arrival detector is multiplied Ji Wei detector position with light velocity c The schematic diagram of projection of the vector on pulsar direction vector.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment further illustrates the present invention.
As shown in figure 1, target celestial body involved in preceding solution can be for Mars, Venus, Jupiter, Saturn etc. too Celestial body in sun system, below using Mars as embodiment, illustrate the specific implementation process of the present invention：
1. establishing deep space probe is based on the sun and the dynamic (dynamical) state model of the eight major planets of the solar system Attractive Orbit
Initialized location, speed first, if X=[x y z vx vy vz]TFor the state in day heart inertial coodinate system to Amount, x, y, z, vx, vy, vzThe respectively detector position of three axles and speed in day heart inertial coodinate system, X '=[x ' y ' z ' vx′ vy′ vz′]TFor the state vector in fiery heart inertial coodinate system, x ', y ', z ', v 'x, v 'y, v 'zRespectively detector exists The position of three axles and speed in fiery heart inertial coodinate system, above-mentioned variable are all the functions relevant with t, are set according to the track of detector Meter, it is X (0) and X ' (0) to choose the position of detector and speed initial value；Secondly initialization Mars ephemeris error initial value is Xerr(0) =[xerr yerr zerr vxerr vyerr vzerr]T, xerr, yerr, zerr, vxerr, vyerr, vzerrRespectively heliocentric coordinates moderate heat Star goes through the site error and velocity error of three axles.
A. it is dynamic (dynamical) based on the sun and the eight major planets of the solar system Attractive Orbit that deep space probe is established in fiery heart inertial coodinate system The state model of first state model, i.e. starlight angular distance navigation subsystem；
Consider the graviational interaction of the sun such as the sun and Mars, the earth and the eight major planets of the solar system to detector, choose fiery heart inertia and sit Mark system, the state of deep space probe first state model, i.e. starlight angular distance navigation subsystem in fiery heart inertial coodinate system can be obtained Model is：
In formula, x ', y ', z ' are detector three shaft positions, v ' in fiery heart inertial coodinate systemx, v 'y, v 'zExist for detector Three axle speeds in fiery heart inertial coodinate system,For the differential of detector three shaft positions in fiery heart inertial coodinate system,For the differential of detector three axle speeds in fiery heart inertial coodinate system, μs、μmWithThe respectively sun, Mars and icThe gravitational constant of planet；r′psFor the distance of day heart to detector；r′pmFor the distance of Mars to detector；r′msFor day heart To the distance of the fiery heart；For i-thcThe distance of planet to detector；r′miFor i-thcThe distance of planet barycenter to the fiery heart； (x′s, y 's, z 's),The respectively sun, i-thcThree shaft position coordinates of the planet in fiery heart inertial coodinate system, It can be obtained according to the time by planet ephemerides, wx', wy', wz' be respectively first state model in the axle of detector three state model Error；icRepresent i-th in the sun and the eight major planets of the solar system from the inside to the outsidecPlanet, ic=1,2,3..., N (ic≠ 4), N=8, by In ic=4 represent the 4th planet (Mars), therefore are not included in summation expression formula.
Each variable in formula (1) is all the variable relevant with time t, can be abbreviated as：
In formula,For the state vector of first state model,For the micro- of X ' (t) Point, f1(X ' (t), t) be first state model mission nonlinear continuous state transfer function, w ' (t)=[w 'x, w 'y, w 'z]T For the state model error of first state model.
B. it is dynamic (dynamical) based on the sun and the eight major planets of the solar system Attractive Orbit that deep space probe is established in day heart inertial coodinate system The state model of second state model, i.e. X-ray pulsar navigation subsystem；
Consider the graviational interaction of the sun such as the sun and Mars, the earth and the eight major planets of the solar system to detector, choose day heart inertia and sit Mark system, can obtain the second state model that deep space probe expands into component form in day heart inertial coodinate system, i.e. X-ray pulse The state model of star navigation subsystem is：
In formula, x, y, z are detector three shaft positions, v in day heart inertial coodinate systemx, vy, vzIt is used to for detector in day heart Three axle speeds in property coordinate system,For the differential of detector three shaft positions in day heart inertial coodinate system,To visit Survey the differential of device three axle speeds in day heart inertial coodinate system, μSFor solar gravitation constant,For i-thcThe gravitation of individual planet is normal Number；rpsFor the distance of day heart to detector；For i-thcDistance of the individual planet to detector；For i-thcIndividual planet barycenter arrives The distance of day heart；Respectively i-thcCoordinate of the individual planet in day heart inertial coodinate system, can be according to the time by going Star ephemeris obtains, wx, wy, wzThe state model error of the axle of detector three in respectively the second state model；
Each variable in formula (3) is all the variable relevant with time t, can be abbreviated as：
In formula,For the state vector of the second state model,For X (t) differential, f2(X (t), t) is the second state model mission nonlinear continuous state transfer function, w (t)=[wx, wy, wz]TFor the second state The state model error of model.
2. starlight angular distance navigation subsystem and X-ray pulsar navigation subsystem measurement model are established respectively
(1) starlight angular distance navigation subsystem measurement model
Angle information θ between Mars and i-th background fixed starmiSize be identical in different coordinates, therefore its Expression formula is：
In formula,For in Mars sensor measuring coordinate system from Mars to the unit vector of detector,For used Mars is represented by the unit vector of detector in property coordinate system：
In formula, (x ', y ', z ') is detector three shaft position coordinates in fiery heart inertial coodinate system,For in Mars image Unit vector of i-th background fixed star in Mars sensor measuring coordinate system,For i-th background perseverance in inertial coodinate system The unit vector of star light, i=1,2,3, it can be directly obtained by fixed star almanac data storehouse,
Angle information θ between phobos and Deimos and its i-th background fixed star can similarly be obtainedpiAnd θdiExpression formula be：
If starlight angular distance navigation subsystem measurement Z1=[θm1, θm2, θm3, θp1, θp2, θp3, θd1, θd2, θd3]T, starlight angle Noise is measured away from navigation subsystem Respectively measure θm1, θm2, θm3, θp1, θp2, θp3, θd1, θd2, θd3Observation error, because each variable is all relevant with time t Variable, the then expression formula that starlight angular distance navigation subsystem measurement model can be established according to formula (6)~formula (8) are：
Z1(t)=h1[X ' (t), t]+v1(t) (9)
In formula, h1[X ' (t), t] is the non-linear continuous measurement function of starlight angular distance navigation subsystem.
(2) X-ray pulsar navigation subsystem measurement model
The time that the X-ray pulse of X-ray pulsar transmitting reaches solar system barycenter is obtained by astronomical observation database, X The time that ray pulse reaches detector is obtained by the photon counter on detector, and solar system matter is reached according to X-ray pulse The time difference of the heart and arrival detector is as measurement information.As shown in figure 3, pulse reaches solar system barycenter and reaches detector The projection that time difference is multiplied Ji Wei detector position vector on pulsar direction vector with light velocity c.According to more pulsar arteries and veins The time difference being flushed to up to solar system barycenter and detector can obtain position of the detector under sun geocentric coordinate system.X ray Pulsar measurement model can be described as follows：
Δti=(nix·x+niy·y+niz·z)/c (10)
In formula, Δ tiFor the measurement information of i-th X pulsar, (pulsar pulse reaches solar system barycenter and detector Time difference), i=1,2,3, (nix, niy, niz) it is direction vector of the X-ray pulsar in day heart inertial coodinate system, (x, y, z) For position of the detector under heliocentric coordinates.
If X-ray pulsar navigation subsystem measurement Z2=[Δ t1, Δ t2, Δ t3]T, X-ray pulsar navigation subsystem System measures noiseΔt1, Δ t2, Δ t3The detector X-ray pulsar that respectively detector measurement obtains The time difference of solar system barycenter and detector is reached,Respectively measure Δ t1, Δ t2, Δ t3Observation error, due to Each variable is all the variable relevant with time t, then X-ray pulsar navigation subsystem measurement model can be established according to formula (10) Expression formula is：
Z2(t)=h2[X (t), t]+v2(t) (11)
In formula, h2[X (t), t] is the non-linear continuous measurement function of X-ray pulsar navigation subsystem.
3. the state model and measurement model in pair step 1 and step 2 carry out discretization
X ' (k)=F1(X ' (k-1), k-1)+W ' (k-1) (12)
X (k)=F2(X (k-1), k-1)+W (k-1) (13)
Z ' (k)=H1(X ' (k), k)+V1(k) (14)
Z (k)=H2(X (k), k)+V2(k) (15)
In formula, k=1,2 ..., F1(X ' (k-1), k-1) and F2(X (k-1), k-1) is respectively f1(X ' (t), t) and f2(X (t), t) it is discrete after from the moment of kth -1 to the nonlinear state transfer function at kth moment, H1(X ' (k), k) and H2(X (k), k) point Wei not h1(X ' (t), t) and h2The non-linear measurement function at kth moment, W ' (k), W (k), V after (X (t), t) is discrete1(k), V2 (k) it is respectively w ' (t), w (t), v1And v (t)2(t) equivalent noise at discrete rear kth moment, and W ' (k) and V1(k), W (k) and V2(k) it is orthogonal.
4. the acquisition and processing of starlight angular distance and X-ray pulsar measurement
(1) acquisition and processing of starlight angular distance navigation subsystem measurement
Fig. 2 gives the imaging schematic diagram of Mars sensor used in starlight angular distance navigation subsystem, phobos sensor, fire It is similar therewith to defend two sensor imaging processes.Mars sensor is mainly made up of optical lens and two-dimensional imaging face battle array, in sensitivity Device measuring coordinate system O ' XcYcZcThe middle direction vector along Mars to detectorMars sunlight reflection directive Mars is sensitive Device, now, coordinate of the Mars in Mars sensor measuring coordinate system is (xc, yc, zc)；The optical lens of Mars sensor with Focal length f will be imaged in the battle array of two-dimensional imaging face after the light refraction of Mars, and two-dimensional imaging face battle array will be impinged upon on each imaging unit Image brightness signal storage.According to the image-forming principle of sensor, the processing procedure of starlight angular distance navigation subsystem measurement is such as Shown in lower：
A. the processing of celestial image
Because image of the Mars in the battle array of two-dimensional imaging face is not a point, but a circle, identified by barycenter etc. Image processing techniques determines Mars image in two-dimensional imaging plane coordinate system OX2dY2dBarycenter (x2d, y2d), this center can be with With pixel as line coordinates system Op1Xp1Yp1In pixel as line (p, l) represent.
B. center-of-mass coordinate from pixel as line coordinates system is changed to the conversion of two-dimensional imaging plane coordinate system
According to pixel as the relation between line coordinates system and two-dimensional imaging plane coordinate system, by Mars center-of-mass coordinate from pixel As line coordinates system is changed to two-dimensional imaging plane coordinate system：
In formula, (x2d, y2d) for Mars in two-dimensional imaging plane OX2dY2dIn coordinate, p and l are respectively that Mars is quick in Mars The pixel of sensor two-dimensional imaging plane and as line,To switch to the sensor transition matrix of pixel, p by millimeter0 And l0Respectively Mars sensor center in pixel as line coordinates system OXp1Yp1In pixel and as line.
C. center-of-mass coordinate is changed to the conversion of sensor measuring coordinate system from two-dimensional imaging plane coordinate system
According to lens imaging principle, Mars center-of-mass coordinate is changed to sensor to measure from two-dimensional imaging plane coordinate system and sat Mark system：
In formula, f is the focal length of Mars sensor,For in Mars sensor measuring coordinate system from Mars to detector Unit vector.
Unit vector of i-th background fixed star in Mars sensor measuring coordinate system in Mars image can similarly be obtainedI=1,2,3.
D. starlight angular distance is calculated
According in Mars sensor measuring coordinate system Mars to the unit vector of detectorWith i-th in Mars image The unit vector of background fixed starCalculate the starlight angular distance θ between two vectorsmi：
The starlight angular distance θ between phobos and its background fixed star, Deimos and its background fixed star can similarly be obtainedpi, θdi。
(2) acquisition and processing of X-ray pulsar navigation subsystem measurement
Choose X-ray pulse and reach the time difference of solar system barycenter and detector as X-ray pulsar navigation subsystem Measurement.
What the photon counter that detector loads obtained is the real time that X-ray pulse reaches detector, calculates pulse Reach solar system barycenter needs unification to arrive same standard with reaching the time difference of detector, due to the various factors in space, pulse Star signal needs to consider the influence of factors in time transfer process, and specific transfer equation is：
In formula,The time of solar system barycenter, t are reached for pulsescThe time of detector, δ t are reached for pulse1For due to Time delay caused by geometrical relationship, δ t2It is Shapiro delays effect, δ t caused by planets of the solar system celestial body2With δ t2It is that the sun draws Light path bending caused by the field of force and gravitation delay.As in formula it can be seen that except Fig. 3 shown in geometric delay in addition to, pulse reach when Between influenceed by celestial body in solar system and solar gravitation, so the measurement of X-ray pulsar can be expressed as：
5. pair starlight angular distance navigation subsystem carries out Unscented Kalman filterings
Obtained according to first state modular form (12), starlight angular distance navigation subsystem measurement model formula (14), by star sensor The measurement formula (18) obtained, carry out starlight angular distance navigation subsystem Unscented Kalman filterings.Comprise the following steps that：
A. initialize
In formula,For the 0th moment (initial time), three shaft positions of detector and speed are estimated in fiery heart inertial coodinate system Evaluation, x '0For three shaft positions and speed actual value of the 0th moment (initial time) detector in fiery heart inertial coodinate system, P '0 For the initial mean squared error matrix of state vector.
B. sampled point is calculated
In starlight angular distance navigation subsystem -1 moment of kth state vectorA series of sample points are nearby chosen, these samples Point average and mean squared error matrix be respectivelyWith P 'k-1.If state vector is 6 × 1 dimensions, then 13 starlight angular distance navigation Systematic sample point χ '0, k..., χ '12, kAnd its weight W0′…W′12It is as follows respectively：
In formula, as P 'k-1=A 'TDuring A ',A ' jth row is taken, as P 'k-1=A ' A 'TWhen,Take A's ' Jth arranges, and obtains the instance sample of kth -1 point χ 'k-1Uniform expression be：
C. the time updates
The one-step prediction χ ' of starlight angular distance navigation subsystem state vectork|k-1For：
χ′k|k-1=F1(χ′k-1, k-1) and (24)
Result after the one-step prediction weighting of all sampled point state vectors of starlight angular distance navigation subsystemFor：
In formula, Wj' for the weights of j-th sampled point；
The estimation mean squared error matrix one-step prediction of starlight angular distance navigation subsystem state vectorFor：
In formula, Q 'kFor the state model error covariance matrix of k moment starlight angular distance navigation subsystems；
Estimate vector Z ' is measured corresponding to starlight angular distance navigation subsystem sampled pointk|k-1
Z′k|k-1=H1(χ′k|k-1, k) and (27)
All sampled points of starlight angular distance navigation subsystem measure estimation weighing vector
D. renewal is measured
Starlight angular distance navigation subsystem measures mean squared error matrixFor：
In formula, R 'kFor the measurement noise covariance battle array of k moment starlight angular distance navigation subsystems；
Starlight angular distance navigation subsystem state vector measurement mean squared error matrix
Starlight angular distance navigation subsystem filtering gain K 'kFor：
The estimated state vector of starlight angular distance navigation subsystemWith estimation mean squared error matrix Pk' be：
6. pair X-ray pulsar navigation subsystem carries out Unscented Kalman filterings
Connect according to the second state model formula (13), X-ray pulsar navigation subsystem measurement model formula (15), by X pulses The measurement formula (19) and formula (20) that receiving apparatus obtains, carry out X-ray pulsar navigation subsystem Unscented Kalmans filter Ripple.Comprise the following steps that：
A. initialize
In formula,Detected for the 0th moment (initial time) X-ray pulsar navigation subsystem in day heart inertial coodinate system Three shaft positions and velocity estimation value of device, x0For the 0th moment (initial time) detector detector in day heart inertial coodinate system Three shaft positions and speed actual value, P0For the initial mean squared error matrix of X-ray pulsar navigation subsystem state vector.
B. sampled point is calculated
In X-ray pulsar navigation subsystem -1 moment of kth state vectorA series of sample points are nearby chosen, these The average and mean squared error matrix of sample point be respectivelyAnd Pk-1.If state vector is 6 × 1 dimensions, then 13 X-ray pulsars The sample point χ of navigation subsystem0, k..., χ12, kAnd its weight W0…W12It is as follows respectively：
In formula, work as Pk-1=ATDuring A,A jth row is taken, works as Pk-1=AATWhen,Take A jth to arrange, obtain The instance sample of kth -1 point χk-1Uniform expression be：
C. the time updates
The one-step prediction χ of X-ray pulsar navigation subsystem state vectork|k-1For：
χk|k-1=F2(χk-1, k-1) and (37)
Result after the one-step prediction weighting of all sampled point state vectors of X-ray pulsar navigation subsystemFor：
In formula, WjFor the weights of j-th of sampled point；
The estimation mean squared error matrix one-step prediction of X-ray pulsar navigation subsystem state vectorFor：
In formula, QkFor the state model error covariance matrix of k moment X-ray pulsar navigation subsystems；
Estimate vector Z is measured corresponding to X-ray pulsar navigation subsystem sampled pointk|k-1：
Zk|k-1=H2(χk|k-1, k) and (40)
All sampled points of X-ray pulsar navigation subsystem measure estimation weighing vector
D. renewal is measured
X-ray pulsar navigation subsystem measures mean squared error matrixFor：
In formula, RkNoise covariance battle array is measured for X-ray pulsar navigation subsystem；
X-ray pulsar navigation subsystem state vector measurement mean squared error matrixFor：
X-ray pulsar navigation subsystem filtering gain KkFor：
X-ray pulsar navigation subsystem estimated state vectorWith estimation mean squared error matrix PkFor：
7. determine a need for carrying out Mars ephemeris corrections
When there are X pulsar measurements, carry out fused filtering and target celestial body ephemeris error is estimated and corrected, perform step Rapid 8；When not new X pulsars measurement produces, measurement and a upper amendment cycle were used as by the use of single starlight angular distance The ephemeris error of estimation is modified to target celestial body ephemeris error, perform step 9 target celestial body ephemeris error is modeled, Estimate simultaneously feedback compensation；
8. a pair Mars ephemeris error is modeled, estimated and feedback compensation
X-ray pulsar navigation, it is main to reach solar system barycenter using pulse and reach the time difference of detector to detection The position and speed information of device is estimated, the navigation information that this navigation mode can be with direct measurement relative to the sun, utilizes star Optic angle away from navigation can be with direct measurement relative to target celestial body (such as Mars) navigation information.Because the ephemeris of target celestial body is present Error (200m~100km), and X pulsar navigations method can obtain the high-precision navigation information of the relative sun, therefore by the party The relative target coelonavigation precision of information that method obtains is low；Although it can be obtained using the navigation of starlight angular distance accurately relative Target celestial body navigation information, but the high-precision navigation information of the relative sun can not be obtained by this method.Therefore need to target Celestial body ephemeris error is estimated, and feedback compensation navigation error as caused by target celestial body ephemeris error.
Starlight angular distance navigation subsystem obtain be relative to the position and speed of MarsStarlight angular distance Navigation subsystem obtain be relative to the position and speed of the sun( It is Mars relative to too The position of sun and speed, can be obtained from celestial body almanac data storehouse)；X-ray pulsar navigation subsystem obtain relative to the sun Position and speed beX-ray pulsar navigation subsystem obtain be relative to the position and speed of MarsIt can thus be seen that single navigation system can be influenceed by Mars ephemeris error, Wu Fatong When meet detector with respect to the sun and Mars the needs of navigating in high precision.Therefore using starlight angular distance navigation subsystem The result of Unscented Kalman filterings and the result of X-ray pulsar navigation subsystem Unscented Kalman filterings are to fire Star ephemeris error is estimated, comprises the following steps that：
A. Mars ephemeris error state model is established
In view of capturing section duration short (about 40 days) this feature, the change of Mars ephemeris error is smaller, will capture section The ephemeris error characteristic of interior Mars is thought of as constant error, and Mars ephemeris error state model is established in day heart inertial coodinate system For：
In formula, Three axle positions gone through for day heart inertial coodinate system moderate heat star The differential of error is put, is abbreviated as after discretization：
Xerr(k)=Ferr(Xerr(k-1), k-1)+Werr(k-1) (48)
In formula, state transition function Ferr(Xerr(k-1), k-1)=ΦErr, k, k-1XErr, k-1, ΦErr, k, k-1For kth -1 when It is carved into the state-transition matrix at kth moment, Xerr(k) it is kth moment Mars ephemeris error state vector, and Xerr(k)=XErr, k, Werr(k-1) it is the moment of kth -1 Mars error state model error.
B. Mars ephemeris error measurement model is established
Therefore the measurement model of Mars ephemeris error can be expressed as：
Zerr=H3(Xerr(k), k)+V3 (49)
In formula, H3(Xerr(k), k) be the k moment measurement function, V3Noise is measured for Mars ephemeris error.
C. Mars ephemeris error measurement is obtained
Mars ephemeris error measurement ZerrIt can be expressed as：
In formula,The position relative to the sun obtained for X-ray pulsar navigation subsystem and speed,For star The position relative to Mars and speed that optic angle obtains away from navigation subsystem,For position of the Mars relative to the sun and speed Degree, is obtained from celestial body almanac data storehouse.
D. Kalman Filter Estimation is carried out to Mars ephemeris error
The Mars ephemeris error state model formula (48) and measurement model formula (49) established according to step A and step B, and Mars ephemeris error measurement formula (50) acquired in step C, using kalman filter method, estimates to Mars ephemeris error Meter, Mars ephemeris error estimated state vector and estimation mean squared error matrix are obtained, it is specific as follows：
The one-step prediction of Mars ephemeris error state vector：
In formula,For k-1 moment Mars ephemeris error one-step prediction state vectors.
The estimation mean squared error matrix one-step prediction of Mars ephemeris error state vector：
PErr, k/k-1=ΦErr, k, k-1PErr, k-1ΦErr, k, k-1 T+QErr, k (52)
In formula, PErr, k-1For the estimation mean squared error matrix of k-1 moment Mars ephemeris error state vectors, QErr, kFor the k moment Mars ephemeris error state model error mean square error battle array.
Kalman filtering gain：
KErr, k=PErr, k/k-1HErr, k T(HErr, kPErr, k/k-1HErr, kT+RErr, k)-1 (53)
In formula, HErr, kFor k moment Mars ephemeris error measurement matrixes, HErr, kXErr, k=H3(Xerr, k), RErr, kFor the k moment Mars ephemeris error measurement model error covariance matrix.
Mars ephemeris error estimated state vector：
In formula, ZErr, kFor k moment Mars ephemeris error measurements.
Mars ephemeris error estimates mean squared error matrix：
PErr, k=(I-KErr, kHErr, k)PErr, k/k-1 (55)
In formula, I is unit battle array.
E. feedback compensation is carried out to Mars ephemeris error
The Mars ephemeris error that will be obtained in step DWith Mars ephemeris estimation mean squared error matrix PErr, kFeed back to deep space In the first state model and the second state model of detector, and redefine the mould of first state model and the second state model Type error covariance matrix Q 'kAnd Qk, finally by the model error covariance matrix Q ' after correctionkAnd QkInput to starlight angular distance navigates In subsystem Unscented Kalman filterings and X-ray pulsar navigation subsystem Unscented Kalman filterings, under amendment The navigation results at one moment.
9. information fusion
Because X pulse receivers obtain, the X pulsar measurement cycles are longer, when sensor does not have new X pulses to measure production When raw, X-ray pulsar navigation subsystem is now carried out without the navigation measurement of input to starlight angular distance navigation subsystem Unscented Kalman filterings, including the step such as time renewal and measurement renewal (the step C and step D of the 5th step), X pulsars Navigation subsystem only carries out time renewal (the step C of the 6th step)；When the X pulse receivers on detector produce it is new when, X is penetrated Line pulsar navigation subsystem has input measurement, carries out Unscented Kalman filterings simultaneously to two subsystems, all carries out Time updates and measured renewal.
The two partial estimation state vectors obtained in filtering Two estimation mean squared error matrixEnter as the following formula Row fusion, the global estimation mean squared error matrix of estimated state vector sum for obtaining the overall situation are respectively：
Global estimated result is fed back into two navigation subsystems, the estimated result as two navigation subsystems of k moment：
In formula,For information distribution factor.
The basic principle of information distribution factor selection is to be filtered on the premise of information conservation formula is met with Local Navigation Precision is directly proportional, in order that navigation system has stronger adaptive ability and fault-tolerant ability, using based on estimation mean square error The algorithm of the dynamically distributes information factor of battle array norm.
Order
In formula, | | | |FFor Frobenius norms, i.e., for Arbitrary Matrix A,
The kth moment that most formula (58) and formula (59) obtain at last is in fiery heart inertial coodinate system and in day heart inertial coodinate system In estimated state vectorWith estimation mean squared error matrix P1(k), P2(k) export, estimated state vectorBe illustrated respectively in fiery heart inertial coodinate system and day heart inertial coodinate system in the position of detector, velocity information, The estimation mean squared error matrix P of output1(k), P2(k) performance of filtering estimation is illustrated, and these navigation informations are returned respectively In starlight angular distance navigation subsystem and X-ray pulsar navigation subsystem, position, speed navigation information for the k+1 moment, k =1,2 ....
The content not being described in detail in description of the invention belongs to prior art known to professional and technical personnel in the field.

Claims (1)

  1. A kind of 1. deep space probe capture section astronomical navigation method based on target celestial body ephemeris amendment, it is characterised in that：First The state model of detector and the measurement model based on starlight angular distance/X-ray pulsar are established, is obtained using celestial navigation system Measurement based on starlight angular distance and X-ray pulsar, detector is obtained in day heart by Unscented Kalman Filter Estimations Inertial coodinate system and the position in target celestial body centered inertial coordinate system and velocity estimation value；On this basis, target day is established The state model and measurement model of body ephemeris error, obtain the measurement on ephemeris error, and target is obtained by filtering estimation The estimate of celestial body ephemeris error, and target celestial body ephemeris error is fed back in Navigation System Model, system model is carried out Amendment, obtain the detector position and speed relative to day heart after correction ephemeris error；Specifically include following steps：
    Step 1., establish the detector's status equation based on the sun and the main planet of the solar system；
    A. in the inertial coodinate system centered on target celestial body, establish deep space probe and be based on the sun and the eight major planets of the solar system gravitation rail The dynamic (dynamical) first state model in road；
    B. in day heart inertial coodinate system, establish deep space probe and be based on the sun and the eight major planets of the solar system Attractive Orbit dynamic (dynamical) second State model；
    Step 2., establish the measurement model based on starlight angular distance and X pulsars；
    A. the starlight angular distance measurement model with ephemeris error is established；
    B. the measurement model based on X pulsars is established；
    Step 3., to step 1. with step 2. in state model and measurement model carry out discretization；
    Step 4., the acquisition and processing of starlight angular distance and X-ray pulsar measurement；
    5., based on starlight angular distance step is estimated detector's status；
    What first state model, starlight angular distance measurement model and star sensor in target celestial body centre coordinate system obtained Starlight angular distance, Unscented filtering is carried out, estimates to obtain position of the detector under the inertial coodinate system centered on target celestial body Velocity state vectors and estimation mean squared error matrix P 'k；
    6., based on X pulsars step is estimated detector's status；
    According to the second state model under day heart inertial coodinate system, measurement model and measurement based on X pulsars, carry out Unscented filtering estimations obtain position and speed state vector of the detector under day heart inertial coodinate system and estimation mean square error Battle array Pk；
    Step 7., determine a need for carry out target celestial body ephemeris corrections；
    When there are X pulsar measurements, carry out fused filtering and target celestial body ephemeris error is estimated and corrected, perform step ⑧；When not new X pulsars measurement produces, estimated by the use of single starlight angular distance as measurement and a upper amendment cycle The ephemeris error of meter is modified to target celestial body ephemeris error, performs step 9.；
    8., to target celestial body ephemeris error step is estimated and corrected；
    A. target celestial body ephemeris error state model is established；
    Target celestial body ephemeris error state model is established in day heart inertial coodinate system is：
    <mrow> <mover> <mi>X</mi> <mo>&amp;CenterDot;</mo> </mover> <mi>e</mi> <mi>r</mi> <mi>r</mi> <mo>=</mo> <mn>0</mn> </mrow>
    In formula, For three shaft positions of target celestial body ephemeris in day heart inertial coodinate system The differential of error, it is after discretization：
    Xerr(k)=Ferr(Xerr(k-1),k-1)+Werr(k-1)
    In formula, state transition function Ferr(Xerr(k-1), k-1)=Φerr,k,k-1Xerr,k-1, wherein Φerr,k,k-1For the moment of kth -1 To the state-transition matrix at kth moment, Xerr(k) it is kth moment target celestial body ephemeris error state vector, and Xerr(k)= Xerr,k, Werr(k-1) it is the moment of kth -1 target celestial body ephemeris error state model error, k=1,2 ...；
    B. target celestial body ephemeris error measurement model is established；
    The measurement model for establishing target celestial body ephemeris error is：
    Zerr=H3(Xerr(k),k)+V3
    In formula, H3(Xerr(k), k) be the k moment measurement function, V3Noise is measured for target celestial body ephemeris error；
    C. target celestial body ephemeris error measurement is obtained；
    The measurement of ephemeris error is used as using starlight angular distance；
    D. Kalman Filter Estimation is carried out to target celestial body ephemeris error；
    Utilized according to the state model of target celestial body ephemeris error, measurement model and the target celestial body of acquisition ephemeris error measurement Kalman filter method, target celestial body ephemeris error is estimated, obtain target celestial body ephemeris error estimated state vector with Estimate mean squared error matrix；
    E. feedback compensation is carried out to target celestial body ephemeris error；
    The target celestial body ephemeris error estimated state obtained in step D vector and estimation mean squared error matrix are fed back into survey of deep space In the first state model of device, the second state model and measurement model, and redefine first state model, the second state model And the model error covariance matrix of measurement model, state model, measurement model after last high-ranking officers' positive goal celestial body ephemeris and Model error covariance matrix is inputted into navigation system Unscented Kalman filterings, corrects the navigation results of subsequent time；
    9., using only starlight angular distance as measurement step is filtered；
    When no X pulsars measurement, starlight angular distance is used alone as measurement, and used the target celestial body in a upper cycle Ephemeris error estimate is modified to target celestial body position in model, and the position and speed state of detector are estimated；
    Final output result is the kth moment detector position and speed to be represented in the inertial coodinate system centered on target celestial body Estimated state vector sum estimates mean squared error matrix, and is gone through according to revised target line star, and the result is changed to day heart and is used to Property coordinate system in, export and represent that the estimated state vector sum estimation of detector position and speed is square in day heart inertial coodinate system Error battle array, these navigation informations are returned in starlight angular distance navigation subsystem and X-ray pulsar navigation subsystem respectively, are used for The estimation of the position, speed navigation information at k+1 moment, k=1,2 ....
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