CN105387861A - Multi-object observation autonomous navigation system adopting large dynamic faint target imaging sensor - Google Patents
Multi-object observation autonomous navigation system adopting large dynamic faint target imaging sensor Download PDFInfo
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- CN105387861A CN105387861A CN201510705061.2A CN201510705061A CN105387861A CN 105387861 A CN105387861 A CN 105387861A CN 201510705061 A CN201510705061 A CN 201510705061A CN 105387861 A CN105387861 A CN 105387861A
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- 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
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
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Abstract
The invention provides a multi-object observation autonomous navigation system adopting a large dynamic faint target imaging sensor. The multi-object observation autonomous navigation system adopting the large dynamic faint target imaging sensor comprises a spacecraft dynamic target computer, a satellite-bone navigation solution and track recursive computer, the large dynamic faint target imaging sensor, a multi-object star simulator and a result display computer. By means of the large dynamic faint target imaging sensor, information of planets, planetary satellites and star natural objects is observed, a system of spacecraft high-precision navigation information is obtained, a navigation solution is conducted through spacial various natural object information, the multi-object observation autonomous navigation system adopting the large dynamic faint target imaging sensor can be suitable for all spacecraft in the solar system, and the coverage area is wide; the large dynamic faint target imaging sensor is adopted to observe the natural object information, and the anti-interference performance is good; self-adaption high-precision multi-body dynamics and a high-precision image extraction technology are adopted, and therefore compared with a conventional navigation system, the precision of the self-adaption navigation system is improved.
Description
Technical field
The present invention relates to space high-precision independent navigation research field, particularly a kind of many astronomical observations autonomous navigation system adopting the dark weak signal target of Larger Dynamic to become image sensor.
Background technology
Along with improving constantly of space mission popularity and complicacy, to Spacecraft Autonomous Navigation system rejection to disturbance, long boat time, wide cover and high-precision demand urgent.
The independent navigation of usual spacecraft comprises the independent navigation based on artificial satellite information source, the independent navigation based on inertia type instrument information source and the independent navigation based on natural beacon message source.Wherein satellite information source is mainly GNSS constellation at present, the spreadability shortcoming in its navigate mode anti-interference shortcoming, space; Based on the navigate mode of inertia type instrument, because inertial device error constantly accumulates in time, the spacecraft precision of flight during long boat is difficult to ensure.
Based on the navigate mode in natural beacon message source, mainly comprise horizon instrument compound Star Sensor, ultraviolet sensors compound Star Sensor, navigate mode based on celestial body optical measurement and X-ray pulsar at present.Wherein horizon instrument compound Star Sensor and ultraviolet sensors compound Star Sensor navigate mode space spreadability shortcoming; Navigate mode antijamming capability based on celestial body optical measurement is strong, and navigation error does not possess accumulation, applied widely, but navigation accuracy has much room for improvement; The restriction of the factors such as the navigate mode based on X-ray pulsar is complete by current observation star storehouse, observation time is long, realizes difficulty larger in a short time.This ability that spacecraft is run at Space Autonomous is affected.
patent of invention content
In order to solve Conventional spatial autonomous navigation system anti-interference shortcoming, space spreadability shortcoming, the long problem that time property is poor, navigation accuracy is poor of navigating, the invention provides a kind of many astronomical observations autonomous navigation system adopting the dark weak signal target of Larger Dynamic to become image sensor.
The dark weak signal target of Larger Dynamic is adopted to become many astronomical observations autonomous navigation system of image sensor, comprise spacecraft dynamics object computer, satellite-based navigation resolves and Orbit simulation computing machine, the dark weak signal target of Larger Dynamic become image sensor, many celestial bodies star simulator and result Display control computer, an output terminal of spacecraft dynamics object computer is connected with many celestial bodies star simulator, for the input quantity of providing spacecraft own orbit and attitude to many celestial bodies star simulator, make many celestial bodies star simulator can export the star chart information of spacecraft place track and attitude; Another output terminal is connected with result Display control computer, for the nominal value providing spacecraft dynamics information to compare as navigation accuracy to result Display control computer; The input end of many celestial bodies star simulator is connected with dynamics object computer, output terminal becomes image sensor to be connected with the dark weak signal target of Larger Dynamic, many celestial bodies star simulator exports the star chart information of spacecraft place track and attitude, and the dark weak signal target of Larger Dynamic becomes image sensor to receive star chart information; The dark weak signal target of Larger Dynamic becomes the input end of image sensor to be connected with many celestial bodies star simulator, output terminal resolves with satellite-based navigation and Orbit simulation computing machine is connected, satellite-based navigation resolves and the input end of Orbit simulation computing machine becomes image sensor to be connected with the dark weak signal target of Larger Dynamic, output terminal is connected with result Display control computer, result Display control computer receives the position and speed information of spacecraft and the position and speed information of spacecraft dynamics, both are compared, observes the precise manner of this cover navigational system.
Compared with prior art, patent of the present invention has following beneficial effect:
(1) the present invention adopts the multiple natural celestial body information in space to carry out navigation calculation, is applicable to all spacecrafts in the solar system, wide coverage;
(2) the present invention adopts the dark weak signal target of Larger Dynamic to become image sensor to observe natural celestial body information, good interference-resistance;
(3) the present invention adopts self-adaptation high precision many-body dynamics and high precision image extractive technique, increases so the precision of autonomous navigation system of the present invention more compares routine.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, the other features, objects and advantages of patent of the present invention will become more obvious:
Fig. 1 is that the embodiment of the present invention adopts the dark weak signal target of Larger Dynamic to become the system framework figure of many astronomical observations autonomous navigation system of image sensor.
Fig. 2 is that the embodiment of the present invention adopts the dark weak signal target of Larger Dynamic to become the navigate mode of many astronomical observations autonomous navigation system of image sensor to realize schematic diagram.
Embodiment
Below in conjunction with specific embodiment, patent of the present invention is described in detail.Following examples will contribute to those skilled in the art and understand patent of the present invention further, but not limit patent of the present invention in any form.It should be pointed out that to those skilled in the art, under the prerequisite not departing from inventional idea of the present invention, some distortion and improvement can also be made.These all belong to the protection domain of patent of the present invention.
As shown in Figure 1, embodiments provide a kind of many astronomical observations autonomous navigation system adopting the dark weak signal target of Larger Dynamic to become image sensor, comprise spacecraft dynamics object computer 1, satellite-based navigation resolves and Orbit simulation computing machine 4, the dark weak signal target of Larger Dynamic becomes image sensor 3, many celestial bodies star simulator 2 and result Display control computer 5, an output terminal of spacecraft dynamics object computer 1 is connected with many celestial bodies star simulator 2, for the input quantity of providing spacecraft own orbit and attitude to many celestial bodies star simulator, make many celestial bodies star simulator can export the star chart information of spacecraft place track and attitude, another output terminal is connected with result Display control computer 5, for the nominal value providing spacecraft dynamics information to compare as navigation accuracy to result Display control computer, the input end of many celestial bodies star simulator 2 is connected with dynamics object computer 1, output terminal becomes image sensor 3 to be connected with the dark weak signal target of Larger Dynamic, many celestial bodies star simulator exports the star chart information of spacecraft place track and attitude, and the dark weak signal target of Larger Dynamic becomes image sensor to receive star chart information, the dark weak signal target of Larger Dynamic becomes the input end of image sensor 3 to be connected with many celestial bodies star simulator 2, output terminal resolves with satellite-based navigation and Orbit simulation computing machine 4 is connected, satellite-based navigation resolves and the input end of Orbit simulation computing machine 4 becomes image sensor 3 to be connected with the dark weak signal target of Larger Dynamic, output terminal is connected with result Display control computer 5, result Display control computer receives the position and speed information of spacecraft and the position and speed information of spacecraft dynamics, both are compared, observes the precise manner of this cover navigational system.
This concrete enforcement is inputted track and the attitude information of spacecraft to many celestial bodies star simulator by spacecraft dynamics object computer, many celestial bodies star simulator is according to input information, export the natural celestial body information that this moment spacecraft can be observed, the dark weak signal target of Larger Dynamic becomes image sensor to natural celestial body information (planet, planetary satellite and fixed star) observe, and the photo of shooting is delivered to satellite-based navigation to resolve and Orbit simulation computing machine, satellite-based navigation resolves and Orbit simulation computing machine will complete on the one hand and extracts the high precision barycenter of natural celestial body information, and show that observed quantity information is resolved, high-precision Orbit simulation initial value to be provided on the other hand.Satellite-based navigation resolves and Orbit simulation computer navigation calculates the status information of spacecraft, and status information is delivered to result Display control computer.Result Display control computer also receives spacecraft dynamics information as nominal value simultaneously, and both compare the navigation accuracy that can obtain this cover navigational system.
This is concrete implement in the dark weak signal target of Larger Dynamic become the output terminal of image sensor 3 to resolve with satellite-based navigation and Orbit simulation computing machine 4 is connected.After reception star chart information, satellite-based navigation resolves and first Orbit simulation computing machine obtains the Initial Information of spacecraft by Orbit simulation, under carrying out complex background to the view information obtained afterwards, dark weak celestial body effectively detects and high precision barycenter extracts, obtain at least three fixed stars 6, 7, 8, a planet 9, the barycenter information of a planetary satellite 10, Vector Message is formed as shown in Figure 2 with spacecraft 11 barycenter line, image sensor is become to obtain fixed star 6 starlight vector and the direction of planetary satellite 10 position vector in spacecraft 11 body coordinate system by the dark weak signal target of Larger Dynamic, thus determine a position circular cone, the summit of this circular cone is positioned at planetary satellite 10, axially point to fixed star 6, observe other two fixed stars, same method obtains two other circular cone, these three conical intersections are in a position line, spacecraft is positioned on this line, profit uses the same method and observes planet 9, determine a circular cone equally, by the ephemeris of planetary satellite and planet, the relative position between planetary satellite and planet can be obtained, therefore unique circular cone bottom surface can be determined, the circular cone bottom surface formed and the intersection point of the position line and the position of spacecraft, the kinetic model of combined high precision carries out filtering process, obtain the velocity information of spacecraft.
Above the specific embodiment of patent of the present invention is described.It is to be appreciated that patent of the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect the flesh and blood of patent of the present invention.
Claims (1)
1. adopt the dark weak signal target of Larger Dynamic to become many astronomical observations autonomous navigation system of image sensor, it is characterized in that: comprise spacecraft dynamics object computer (1), satellite-based navigation resolves and Orbit simulation computing machine (4), the dark weak signal target of Larger Dynamic becomes image sensor (3), many celestial bodies star simulator (2) and result Display control computer (5), an output terminal of spacecraft dynamics object computer (1) is connected with many celestial bodies star simulator (2), make many celestial bodies star simulator can export the star chart information of spacecraft place track and attitude, another output terminal is connected with result Display control computer (5), the input end of many celestial bodies star simulator (2) is connected with dynamics object computer (1), output terminal and the dark weak signal target of Larger Dynamic become image sensor (3) to be connected, many celestial bodies star simulator exports the star chart information of spacecraft place track and attitude, and the dark weak signal target of Larger Dynamic becomes image sensor to receive star chart information, the dark weak signal target of Larger Dynamic becomes the input end of image sensor (3) to be connected with many celestial bodies star simulator (2), output terminal resolves with satellite-based navigation and Orbit simulation computing machine (4) is connected, satellite-based navigation resolves and the input end of Orbit simulation computing machine (4) becomes image sensor (3) to be connected with the dark weak signal target of Larger Dynamic, and output terminal is connected with result Display control computer (5).
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| CN109459043A (en) * | 2018-12-12 | 2019-03-12 | 上海航天控制技术研究所 | A kind of spacecraft Relative Navigation based on production reconstructed image |
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