CN106353714B - A kind of Mars landing device static immobilization method based on around device - Google Patents
A kind of Mars landing device static immobilization method based on around device Download PDFInfo
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- CN106353714B CN106353714B CN201610667730.6A CN201610667730A CN106353714B CN 106353714 B CN106353714 B CN 106353714B CN 201610667730 A CN201610667730 A CN 201610667730A CN 106353714 B CN106353714 B CN 106353714B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/08—Systems for determining direction or position line
Abstract
The present invention provides a kind of Mars landing device static immobilization methods based on around device, on the basis of ground control station is to detector tracking measurement, ranging is tested the speed as measurement amount using the radio between device and lander, by the way of round trip measurement, by emitting wireless signal around device, handled again by passing Cross-Link measurement data back the earth around device after lander transparent forwarding.More than ten kilometers can achieve by the lander positioning accuracy that the multi-turn measurement around device finally obtains.A kind of Mars landing device static immobilization method based on around device disclosed by the invention, it can be used for ancillary terrestrial tracking measurement, it makes up since distance is remote between ground fire, tracking measurement difficult larger disadvantage of the ground facing to land device, it makes full use of around device on-board equipment, do not increase extra cost, improves the utilization rate of on-board equipment.
Description
Technical field
The present invention relates to a kind of Mars landing device static immobilization methods based on around device, are related to the mode of relay station, belong to
In field of deep space exploration.
Background technique
Mars is a terrestrial planet in the solar system, and the environmental condition and the earth of Mars are most close, and research Mars is advantageous
In the formation and evolutionary process of further the understanding earth and the solar system；Mars has atmosphere, and there are water-ices for earth's surface, finds life
It is one of the target that current deep space exploration is most paid close attention to.First autonomous Mars probes of plan transmitting are set about and have realized Mars in China
Detection.Lander in detection mission will enter martian atmosphere and land in martian surface, due to recognizing not Mars environment
Foot, it is contemplated that landing precision is limited, how to determine to quick high accuracy that the landing position of lander becomes one and extremely urgent asks
Topic.
Mars probes flight overall process is based on ground based radio navigation and Orbit simulation.Detector is successfully captured
Afterwards, it is separated around device with lander.Lander successfully lands after energy meter, since the earth is far apart with Mars, is landed
Device power limit, ground are larger facing to the tracking measurement difficulty of land device.Device is surround to lander using single in deep space field
Position Research is less.
Summary of the invention
Far apart with Mars for the earth, by lander power limit, ground is difficult facing to the tracking measurement of land device
The problems such as larger, the present invention provide a kind of Mars landing device static immobilization method based on around device, make full use of around device star
Upper equipment, does not increase extra cost, improves the utilization rate of on-board equipment.
Above-mentioned purpose of the invention is achieved through the following technical solutions:
A kind of Mars landing device static immobilization method based on around device, it is characterised in that: when Mars landing device land in
After martian surface, introduce around device on the basis of ground control station is to lander tracking measurement as relay station, using round trip
The mode of measurement is obtained around device and lander relative positional relationship, and is passed Cross-Link measurement data back the earth as auxiliary and surveyed
Amount improves lander in areographic position precision.
The circular device uses X band communication as relay station between device and ground, and UHF is used between lander
Band communication.
The circular device and the main tracking measurement mode of lander are ground based radio navigations, are used to around device
VLBI measurement.
The position and speed precision around device is an important factor for influencing lander position precision, around the position of device
Set higher with velocity accuracy, the positioning accuracy of lander is higher.
The circular device carries out round trip to lander and tests the speed ranging, by around device electromagnetic signals, through lander
Signal is passed back around device after transparent forwarding, is handled by passing signal back the earth around device.Most by the multi-turn measurement around device
The lander positioning accuracy obtained eventually can achieve more than ten kilometers.
Specific implementation includes the following steps:
Step 1: determining the communication segmental arc between device and lander, the main wireless communication distance ρ and two for considering the two
The visibility of person's sight.Wherein take ρ < 4000km；The position vector for enabling lander to Mars mass center isLander to surround
The position vector of device isAngle between the two is α, then the condition of segmental arc can be communicated between device and lander are as follows:
180-α≥90
In view of there are the limitations at the elevation angle 5o for lander receiving antenna, then the condition of segmental arc can be finally communicated are as follows:
Step 2: on the basis of known circular device position and speed, the round trip Doppler established between device and lander is surveyed
Speed and round trip ranging, in lander communicating segmental arc around device, round trip tests the speed, and to measure equation as follows:
To surround device and lander relative radial rate, Δ fkFor frequency shift amount, f0For fundamental frequency, c is the light velocity.wfFor process
Measure noise.The process noise includes around device orbit error, atmosphere errors, base band Error, forwarding device error and receiver
Error etc..
It is as follows that round trip ranging measures equation:
Wherein: tRFor total propagation time, (xi,yi,zi) it is around device position, (x0,y0,z0) it is lander position.wdFor
Process measurement noise.The process noise includes the atmosphere errors around device orbit error, time delay error, forwarding device error and is connect
Receive chance error difference etc..
Step 3: considering lander landing stationary state, lander state in the case where Mars is connected coordinate system after martian surface
Equation is simple, X=[x0,y0,z0], V=[0,0,0].
Step 4: after obtaining lander and the round trip Doppler range rate measurement surrounding between device and ranging amount, using least square solution
The position of lander is calculated, and by passing Cross-Link measurement data back auxiliary information that the earth is positioned as lander around device.
According to the measurement equation of the state equation of step 3 and step 2, lander position is obtained by least square method, by
In measurement equation be it is nonlinear, linearized by series expansion.
It is had the beneficial effect that brought by the present invention:
A kind of Mars landing device static immobilization method based on around device disclosed by the invention can be used for ancillary terrestrial tracking
Measurement makes up since distance is remote between ground fire, and ground makes full use of facing to the difficult larger disadvantage of tracking measurement of land device around device
On-board equipment does not increase extra cost, improves the utilization rate of on-board equipment.
Localization method of the present invention is tested the speed ranging information by the radio between device and lander, is measured using round trip
Mode, by emitting wireless signal around device, again by passing Cross-Link measurement data back ground around device after lander transparent forwarding
Ball is handled, and ancillary terrestrial tracking measurement is used for, and improves lander in areographic position precision.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is to position schematic diagram to lander around device and ground control station；
Fig. 2 is ground control station to around device VLBI instrumentation plan；
Fig. 3 is to resolve schematic diagram around device measurement data.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
Mars landing device static immobilization method disclosed in this invention based on around device, when Mars landing device lands in fire
Behind star catalogue face, introduces around device on the basis of ground control station is to lander tracking measurement as relay station, surveyed using round trip
The mode of amount is obtained around device and lander relative positional relationship, and passes Cross-Link measurement data back the earth as subsidiary,
Lander is improved in areographic position precision.
Around device as relay station, X band communication is used between device and ground, it is logical using uhf band between lander
Letter.
It is ground based radio navigation around device and the main tracking measurement mode of lander, the ground control station in China is main
It is distributed in Beijing, Shanghai, Kunming and four, Urumchi place, by Shanghai as data processing centre, is used to around device
VLBI measurement.
Orbit parameter around device by ground control station it is known that measured；It is simultaneously shadow around the position and speed precision of device
An important factor for ringing lander position precision, the position and speed precision around device is higher, and the positioning accuracy of lander is higher.
It carries out round trip to lander around device to test the speed ranging, by around device electromagnetic signals, through transparent turn of lander
Signal is passed back around device after hair, is handled by passing signal back the earth around device.It is obtained by the multi-turn measurement around device is final
Lander positioning accuracy can achieve more than ten kilometers.
As shown in FIG. 1 to 3, the specific implementation steps are as follows by the present invention:
Step 1: determining the communication segmental arc between device and lander, the main wireless communication distance ρ and two for considering the two
The visibility of person's sight.Take ρ < 4000km；The position vector for enabling lander to Mars mass center isLander is to around device
Position vector isAngle between the two is α, it is contemplated that there are the limitations at 5 ° of elevations angle for lander receiving antenna, then can finally lead to
Believe the condition of segmental arc are as follows:
It can be found that, there are relative motion between device and lander, some circle numbers can communicate segmental arc due to Mars rotation
Long, it is short that some circle numbers can communicate segmental arc, can not communicate segmental arc even.
Step 2: on the basis of known circular device position and speed, the round trip Doppler established between device and lander is surveyed
Speed and round trip ranging, in lander communicating segmental arc around device, round trip tests the speed, and to measure equation as follows:
To surround device and lander relative radial rate, Δ fkFor frequency shift amount, f0For fundamental frequency, c is the light velocity.wfFor process
Measure noise.The process noise includes around device orbit error, atmosphere errors, base band Error, forwarding device error and receiver
Error etc..Wherein in orbit error three directions of location error be 1km/s, velocity error 1m/s, base band Error 10mHz,
The propagation velocity of electromagnetic wave error as caused by atmosphere is 828m/s.
It is as follows that round trip ranging measures equation:
Wherein: tRFor total propagation time, (xi,yi,zi) it is around device position, (x0,y0,z0) it is lander position.wdFor
Process measurement noise.The process noise includes the atmosphere errors around device orbit error, time delay error, forwarding device error and is connect
Receive chance error difference etc..
Wherein three directions of location error are 1km/s, velocity error 1m/s, the electricity as caused by atmosphere in orbit error
Electromagnetic wave propagation velocity error is 828m/s.
Step 3: considering lander landing stationary state, lander state in the case where Mars is connected coordinate system after martian surface
Equation is simple, X=[x0,y0,z0], V=[0,0,0].
Step 4: after obtaining lander and the round trip Doppler range rate measurement surrounding between device and ranging amount, using least square solution
The position of lander is calculated, and by passing Cross-Link measurement data back auxiliary information that the earth is positioned as lander around device.
According to step 2 about around device test the speed ranging process noise source and magnitude, as shown in table 1.
It is tested the speed ranging information according to the circular device that step 2 obtains, using the linearisation of least square method.To test the speed, information is
Example, observed quantity VkrWith quantity of stateBetween nonlinear observational equation, it is linearized:
Given lander location estimation initial valueA series of relative radial rate iterated revision measured using different moments
Initial value finally obtains the position coordinates of lander.It is as follows to define matrix B:
It is assumed thatFor tkThe radial velocity and practical radial velocity difference that moment iterated revision obtains, therefore:
Wherein: Δ ρkIndicate tkLander position correction amount of the moment based on least-squares calculation.Then tk+1At the beginning of moment iteration
Value are as follows:
Next round iteration is carried out with this initial value, until Δ ρk+1Tend to be a small amount of, i.e., finally converges on lander position coordinates.
This example explains the position of lander using least square method, and positioning accuracy is finally to surround device to measure around 2 circles,
Position precision is within 20km.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (5)
1. a kind of Mars landing device static immobilization method based on around device, which is characterized in that when Mars landing device lands in fire
Behind star catalogue face, introduces around device on the basis of ground control station is to lander tracking measurement as relay station, surveyed using round trip
The mode of amount is obtained around device and lander relative positional relationship, and passes Cross-Link measurement data back the earth as subsidiary,
Lander is improved in areographic position precision；The round trip measurement refers to that carrying out round trip to lander around device tests the speed
Away from by around device electromagnetic signals, signal is passed back around device after lander transparent forwarding, by passing signal back around device
The earth is handled, and obtains lander positioning accuracy by the multi-turn measurement around device is final；Specifically comprise the following steps:
Step 1: determining the communication segmental arc surrounding between device and lander, the main wireless communication distance ρ for considering the two and the two view
The visibility of line, wherein taking ρ < 4000km；The position vector for enabling lander to Mars mass center isLander is to around device
Position vector isAngle between the two is α, then the condition of segmental arc can be communicated between device and lander are as follows:
180-α≥90
In view of there are the limitations at 5 ° of elevations angle for lander receiving antenna, then the condition of segmental arc can be finally communicated are as follows:
Step 2: on the basis of known circular device position and speed, establish round trip Doppler range rate measurement between device and lander and
Round trip ranging, in lander communicating segmental arc around device, round trip tests the speed, and to measure equation as follows:
To surround device and lander relative radial rate, Δ fkFor frequency shift amount, f0For fundamental frequency, c is the light velocity, wfFor process measurement
Noise, the process noise include surrounding device orbit error, atmosphere errors, base band Error, forwarding device error and receiver error,
It is as follows that round trip ranging measures equation:
Wherein: tRFor total propagation time, (xi,yi,zi) it is around device position, (x0,y0,z0) it is lander position, wdFor process
Noise is measured, which includes around device orbit error, atmosphere errors, time delay error, forwarding device error and receiver
Error；
Step 3: considering lander landing stationary state, lander state equation in the case where Mars is connected coordinate system after martian surface
Simply, X=[x0,y0,z0], V=[0,0,0]；
Step 4: after obtaining lander and the round trip Doppler range rate measurement surrounding between device and ranging amount, being resolved using least square method
The position of land device, and by passing Cross-Link measurement data back auxiliary information that the earth is positioned as lander around device.
2. a kind of Mars landing device static immobilization method based on around device according to claim 1, which is characterized in that institute
It states using X band communication between device and ground, is communicated between lander using uhf band.
3. a kind of Mars landing device static immobilization method based on around device according to claim 1, which is characterized in that institute
It states and tracking measurement is carried out using ground based radio navigation mode around device and lander, measured using VLBI around device.
4. a kind of Mars landing device static immobilization method based on around device according to claim 1, which is characterized in that ring
Orbit parameter around device is measured by ground control station, and the position precision of lander is determined by the position and speed precision around device,
The position and speed precision of lander is higher, and the positioning accuracy of lander is higher.
5. a kind of Mars landing device static immobilization method based on around device according to claim 1, which is characterized in that institute
The concrete methods of realizing for stating step 4 is, according to the measurement equation of the state equation of step 3 and step 2, to be obtained by least square method
Take lander position, due to measurement equation be it is nonlinear, linearized by series expansion.
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| CN107820260A (en) * | 2017-10-06 | 2018-03-20 | 廖忠民 | Libration point underlying network |
| CN108981703B (en) * | 2018-07-09 | 2021-04-27 | 上海卫星工程研究所 | Mars lander combined position estimation method |
| CN108827323B (en) * | 2018-08-16 | 2021-02-09 | 西安空间无线电技术研究所 | Earth-moon space spacecraft one-way autonomous navigation method |
| CN108880665B (en) * | 2018-09-20 | 2021-05-25 | 上海微小卫星工程中心 | Full duplex satellite communication system |
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