CN107830856B - Formation-flight-oriented solar TDOA (time difference of arrival) measurement method and integrated navigation method - Google Patents

Formation-flight-oriented solar TDOA (time difference of arrival) measurement method and integrated navigation method Download PDF

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CN107830856B
CN107830856B CN201711231517.1A CN201711231517A CN107830856B CN 107830856 B CN107830856 B CN 107830856B CN 201711231517 A CN201711231517 A CN 201711231517A CN 107830856 B CN107830856 B CN 107830856B
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detector
formation
sun
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刘劲
韩雪侠
喻子原
陈璇
康志伟
吴谨
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Wuhan University of Science and Engineering WUSE
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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
    • G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation

Abstract

The invention discloses a formation-flight-oriented sun TDOA (time difference of arrival) measurement method and a combined navigation method, wherein the formation-flight-oriented sun TDOA measurement method comprises the following steps of establishing a sun TDOA measurement model, executing formation-flight-oriented orbit dynamics model on a detector in formation flight, establishing a Mars direction measurement model, and establishing an inter-satellite link ranging model; the extended Kalman filter EKF is used as a navigation filter, a star sensor is used for obtaining celestial body azimuth information, inter-satellite link measurement values and relative distances in the sun radial direction, and the estimated position and speed information of a detector is obtained under the action of the EKF by combining a detector orbit dynamics model flying in formation. The invention provides a solar TDOA measurement technical scheme facing formation flight, which can provide relative position information in the radial direction; the invention fully utilizes various navigation measurement information and can provide absolute and relative navigation information with higher precision for formation flying spacecrafts in the whole space.

Description

Formation-flight-oriented solar TDOA (time difference of arrival) measurement method and integrated navigation method
Technical Field
The invention belongs to the field of autonomous navigation of spacecrafts, and particularly relates to a technical scheme of autonomous navigation of formation flight based on astronomical direction and distance measurement information.
Background
Formation flying is a new field in aerospace technology. Formation flight can increase redundant backup, reduce cost and provide a multi-point platform. In the field of deep space exploration formation flight, absolute and relative navigation accuracy is very important, especially relative navigation accuracy.
The deep space exploration autonomous navigation usually utilizes the measurement information of the sun to carry out navigation, including angle measurement, speed measurement and distance measurement. The sun angle measurement navigation uses the azimuth vector of the sun as measurement information, the method is the most traditional, but the distance between a detector and the sun is far away, so that the measurement precision is low, and the requirement on precision in deep space detection is difficult to meet. The solar speed measurement navigation estimates the speed of the detector relative to the sun by using the frequency shift quantity of the optical Doppler effect, and then obtains position information by integration. The method can directly obtain speed information in real time, but the solar light source is unstable and cannot effectively utilize the light source. The sun ranging navigation can only be used in the capturing section, and does not meet the navigation requirement of the Mars surrounding section.
The above three methods each have advantages. The scholars combine them, such as: wuweiren, Malcine, Ningxialin, etc. propose the combined navigation of asteroid angle measurement and X-ray pulsar distance measurement. The bear Key combines pulsar navigation and inter-satellite links, so that the relative navigation precision can be improved, but the relative navigation precision is limited and needs to be improved.
Disclosure of Invention
The invention provides a novel sun TDOA measurement and a novel combination method thereof, wherein the relative distance of a detector in the sun radial direction is estimated through the difference of arrival time of photons received by the detector flying in formation. The relative distance of the detector in the solar radial direction, the Mars orientation vector and the inter-satellite link of the detector are used as quantity measurement, and high-precision and real-time spacecraft navigation information is obtained by combining an orbit dynamics model and utilizing an extended Kalman filter. The method meets the navigation precision requirement of the fire surrounding section, can provide reference basis for other celestial body detection, and has reference value for design of an autonomous navigation system.
The technical scheme adopted by the invention provides a formation-flying-oriented solar TDOA measuring method, which comprises the following steps of establishing a solar TDOA measuring model,
1 1 1Z(t)＝h[X(t),t]+V(t)(formula one)
Wherein Z is1(t) is a measure of the relative distance of the detectors in the radial direction of the sun, V1(t) is measurement noise, h1[X(t),t]Is a measurement equation, X (t) is probeThe detector's state vector, t is time, TDOA represents the difference in photon arrival times measured by the detectors in formation flight;
Figure BDA0001488254730000021
where c is the speed of light in vacuum, | r1I and | r2And | is the distance of the two detectors in the radial direction of the sun, expressed as,
c(t1-t0)＝|r1i (type III)
c(t2-t0)＝|r2I (type four)
Wherein, t0Is the time at which the photons emanate from the surface of the sun, t1And t2Respectively, the two detector times for the photons to arrive in formation flight.
The invention also provides a combined navigation method realized according to the formation-flying-oriented solar TDOA measuring method, which comprises the following steps of executing two detectors in formation flight,
step B1, establishing a formation-oriented flight orbit dynamics model,
the state vector for formation flight is represented as,
Figure BDA0001488254730000022
wherein, the state vector of the ith detector is,
Figure BDA0001488254730000023
where i is 0,1 is the serial number of the detector, ri＝[x(i),y(i),z(i)]TAnd
Figure BDA0001488254730000024
respectively position and velocity vector, x, of the ith detector(i),y(i),z(i)The components of the position of the ith detector on the three axes respectively,
Figure BDA0001488254730000025
the components of the speed of the ith detector on three axes respectively;
selecting a centroid inertial coordinate system, wherein the orbit dynamics model of the ith detector is,
Figure BDA0001488254730000031
wherein the content of the first and second substances,
Figure BDA0001488254730000032
are each x(i)，y(i)，z(i)，
Figure BDA0001488254730000033
Derivative of, mus,μm,μeAre gravitational constants of the sun, the mars and the earth respectively,
Figure BDA0001488254730000034
the distances from the ith detector to the sun centroid, the Mars centroid and the earth centroid respectively; r isse,rsmThe distances from the earth mass center and the mars mass center to the sun mass center respectively; Δ Fx,ΔFy,ΔFzIs a perturbation force;
the formula (VII) is expressed as,
Figure BDA0001488254730000035
wherein the content of the first and second substances,
Figure BDA0001488254730000036
is X(i)The derivative of (a) of (b),
Figure BDA0001488254730000037
is at time t
Figure BDA0001488254730000038
f(X(i)T) is the state transition model of the ith detector, w(i)(t) the system noise of the ith detector at time t, X is a state vector, denoted as,
Figure BDA0001488254730000039
Figure BDA00014882547300000310
Figure BDA00014882547300000311
wherein the content of the first and second substances,
Figure BDA00014882547300000312
are the state vectors of detector 1 and detector 2, respectively, r1 T、
Figure BDA00014882547300000313
Respectively the position vectors of the two detectors,
Figure BDA00014882547300000314
respectively the velocity vectors of the two detectors;
step B2, establishing a Mars direction measurement model as follows,
Figure BDA00014882547300000315
wherein the content of the first and second substances,
Figure BDA00014882547300000316
is a Mars direction measurement model, rmIs the location of the spark relative to the sun; r isiIs the detector position of formation flight, i is 1,2 is respectively pairedA detector 1 and a detector 2;
Figure BDA00014882547300000317
measuring corresponding measurement noise for the quantity; step B3, establishing a link distance measurement model between satellites as follows,
Z3(t)＝h3[X(t),t]+V3(t) (thirteen formula)
Wherein Z is3(t) is an inter-satellite link ranging model, V3(t) is measurement noise, h3[X(t),t]Is a measurement equation, expressed as follows,
Figure BDA0001488254730000041
wherein x is1、y1、z1Is the three-dimensional position of the probe 1; x is the number of2、y2、z2Is the three-dimensional position of the detector 2;
after the steps are completed, an extended Kalman filter EKF is used as a navigation filter, a star sensor is used for obtaining celestial body azimuth information, inter-satellite link measurement values and relative distances in the sun radial direction, and estimated position and speed information of a detector is obtained under the action of the EKF by combining a detector orbit dynamics model flying in formation.
Compared with the prior art, the invention has the advantages, characteristics or positive effects that:
the invention provides a solar TDOA measurement technical scheme facing formation flight, which can provide relative position information in the radial direction. This is a completely new astronomical autonomous navigation quantity measurement. Compared with the existing formation flying autonomous navigation, the method provided by the invention fully utilizes various navigation measurement information, can provide higher-precision absolute and relative navigation information, especially relative navigation precision, for the formation flying spacecraft in the whole space, and has great application significance and market value.
Drawings
FIG. 1 is a schematic diagram of a measurement of solar TDOA according to an embodiment of the present invention.
Fig. 2 is a flow chart of direction-finding and distance-measuring integrated navigation according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention will be clearly and completely described below with reference to the embodiments of the present invention and the accompanying drawings.
The embodiment of the invention provides a formation-flying-oriented solar TDOA measuring method, which comprises the following steps,
step a1, a solar TDOA (difference in photon arrival times measured by detectors in formation flight) measurement model is established as follows,
Z1(t)＝h1[X(t),t]+V1(t) (formula one)
Wherein Z1(t) is a measure of the relative distance of the two detectors in the radial direction of the sun, V1(t) is measurement noise, h1[X(t),t]Is the measurement equation, X (t) is the state vector of the detector, t is time, h1[X(t),t]As shown below, the following description is given,
Figure BDA0001488254730000042
where c is the speed of light in vacuum, | r1I and | r2The distance between the two detectors in the solar radial direction and the solar centroid is |, respectively, referring to fig. 1, the relative distance between the detector 1 and the detector 2 in the solar radial direction is obtained by measuring the time difference between the arrival of photons at the two detectors flying in formation, r1、r2Can be expressed as a number of times as,
c(t1-t0)＝|r1i (type III)
c(t2-t0)＝|r2I (type four)
Wherein, t0Is the time at which the photons emanate from the surface of the sun, t1And t2Respectively, the two detector times for the photons to arrive in formation flight.
The following steps are performed according to the TDOA method. And the fifth expression and the sixth expression are state vectors of the detector in the measurement model.
Referring to fig. 2, a detector 1 and a detector 2 are respectively corresponding to a sensor 1 and a sensor 2, the relative distance of the detector in the sun radial direction is estimated by establishing a sun TDOA measurement model, and then navigation information is obtained through kalman filtering by combining an orbit dynamics model, a mars direction measurement model and an inter-satellite link distance measurement model.
The embodiment of the invention also provides an integrated navigation method realized according to the formation-flying-oriented solar TDOA measuring method, which comprises the following steps,
and step B1, establishing a formation-oriented flight orbit dynamics model.
The following embodiments take two detectors as an example, and are also suitable for formation flight of a plurality of detectors in specific implementation. For example, in the solar TDOA method, the relative distances between detectors 1 and 2, 2 and 3, and 1 and 3 in the solar radial direction are obtained by measuring the difference between the arrival of photons at two detectors flying in formation; the relative distance precision is increased, and navigation information is obtained by combining other models.
The state vector for formation flight is represented as,
Figure BDA0001488254730000051
wherein, the state vector of the ith detector is,
Figure BDA0001488254730000052
where i is 0 and 1 is the serial number of the detector. r isi＝[x(i),y(i),z(i)]TAnd
Figure BDA0001488254730000053
respectively position and velocity vector, x, of the ith detector(i),y(i),z(i)The components of the position of the ith detector on the three axes respectively,
Figure BDA0001488254730000054
the components of the speed of the ith detector on three axes respectively;
selecting a centroid inertial coordinate system (J2000), wherein the orbit dynamics model of the ith detector is,
Figure BDA0001488254730000061
wherein the content of the first and second substances,
Figure BDA0001488254730000062
are each x(i)，y(i)，z(i)，
Figure BDA0001488254730000063
The derivative of (c). Mu.ss,μm,μeThe gravitational constants of the sun, the mars, and the earth, respectively.
Figure BDA0001488254730000064
The distances from the ith detector to the sun's centroid, the Mars centroid and the earth's centroid, respectively. r isse,rsmThe earth centroid, the distance between the mars centroid and the sun centroid, respectively. Δ Fx,ΔFy,ΔFzIs the perturbation force.
The formula (seven) can be expressed as,
Figure BDA0001488254730000065
wherein the content of the first and second substances,
Figure BDA0001488254730000066
is X(i)The derivative of (c).
Figure BDA0001488254730000067
Is at time t
Figure BDA0001488254730000068
f(X(i)T) is the ithState transition model of the probe, w(i)(t) the system noise of the ith detector at time tth, X is a state vector, which can be expressed as,
Figure BDA0001488254730000069
Figure BDA00014882547300000610
Figure BDA00014882547300000611
wherein the content of the first and second substances,
Figure BDA00014882547300000612
respectively, the state vectors of detector 1 and detector 2. r is1 T、
Figure BDA00014882547300000613
Respectively, the position vectors of the two detectors.
Figure BDA00014882547300000614
Respectively, the velocity vectors of the two detectors.
Step B2, establishing a Mars direction measurement model as follows,
Figure BDA00014882547300000615
wherein the content of the first and second substances,
Figure BDA00014882547300000616
is a Mars direction measurement model, rmIs the location of the spark relative to the sun; r isiThe position of the detector flying in formation is represented as i is 1, and 2 respectively corresponds to the detector 1 and the detector 2;
Figure BDA00014882547300000617
the corresponding measurement noise is measured for a quantity. Step B3, establishing a link distance measurement model between satellites as follows,
Z3(t)＝h3[X(t),t]+V3(t) (thirteen formula)
Wherein Z is3(t) is an inter-satellite link ranging model, V3(t) is measurement noise. h is3[X(t),t]Is a measurement equation, expressed as follows,
Figure BDA0001488254730000071
wherein x is1、y1、z1Is the three-dimensional position of the probe 1; x is the number of2、y2、z2Is the three-dimensional position of the detector 2. After the steps are completed, an extended Kalman filter EKF with good nonlinear estimation capability is adopted as a navigation filter. The star sensor is used for obtaining celestial body azimuth information, inter-satellite link measurement values and relative distances in the sun radial direction, and the estimated position and speed information of the detector is obtained under the action of EKF (extended Kalman filter) by combining a detector orbit dynamics model flying in formation.
In specific implementation, a computer software technology can be adopted to realize an automatic operation process.
Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims (2)

1. A formation-flying-oriented solar TDOA measuring method is characterized by comprising the following steps: the distance of the detector in the sun radial direction is estimated by the difference of the arrival time of the photons received by the detector flying in formation, and the realization method comprises the following steps of establishing a sun TDOA measurement model,
Z1(t)＝h1[X(t),t]+V1(t) (formula one)
Wherein Z is1(t) is the detector in the sun radial directionMeasured value of upper relative distance, V1(t) is measurement noise, h1[X(t),t]Is the measurement equation, x (t) is the detector's state vector, t is time, TDOA represents the difference in photon arrival times measured by the detectors in formation flight;
Figure FDA0003017014520000011
where c is the speed of light in vacuum, | r1I and | r2And | is the distance of the two detectors in the radial direction of the sun, expressed as,
c(t1-t0)＝|r1i (type III)
c(t2-t0)＝|r2I (type four)
Wherein, t0Is the time at which the photons emanate from the surface of the sun, t1And t2Respectively, the two detector times for the photons to arrive in formation flight.
2. A combined navigation method implemented according to the formation-flying-oriented solar TDOA measurement method of claim 1, wherein: performing on two detectors in formation flight includes the following steps,
step B1, establishing a formation-oriented flight orbit dynamics model,
the state vector for formation flight is represented as,
Figure FDA0003017014520000012
wherein, the state vector of the ith detector is,
Figure FDA0003017014520000013
where i is 0,1 is the serial number of the detector, ri＝[x(i),y(i),z(i)]TAnd
Figure FDA0003017014520000014
respectively position and velocity vector, x, of the ith detector(i),y(i),z(i)The components of the position of the ith detector on the three axes respectively,
Figure FDA0003017014520000015
the components of the speed of the ith detector on three axes respectively;
selecting a centroid inertial coordinate system, wherein the orbit dynamics model of the ith detector is,
Figure FDA0003017014520000021
wherein the content of the first and second substances,
Figure FDA0003017014520000022
are each x(i)，y(i)，z(i)，
Figure FDA0003017014520000023
Derivative of, mus,μm,μeAre gravitational constants of the sun, the mars and the earth respectively,
Figure FDA0003017014520000024
the distances from the ith detector to the sun centroid, the Mars centroid and the earth centroid respectively; r isse、rsmThe distances from the earth mass center and the mars mass center to the sun mass center respectively; Δ Fx,ΔFy,ΔFzIs a perturbation force;
the formula (VII) is expressed as,
Figure FDA0003017014520000025
wherein the content of the first and second substances,
Figure FDA0003017014520000026
is X(i)The derivative of (a) of (b),
Figure FDA0003017014520000027
is at time t
Figure FDA0003017014520000028
f(X(i)T) is the state transition model of the ith detector, w(i)(t) the system noise of the ith detector at time t, X is a state vector, denoted as,
Figure FDA0003017014520000029
Figure FDA00030170145200000210
Figure FDA00030170145200000211
wherein the content of the first and second substances,
Figure FDA00030170145200000212
are the state vectors of detector 1 and detector 2, respectively, r1 T、
Figure FDA00030170145200000213
Respectively the position vectors of the two detectors,
Figure FDA00030170145200000214
respectively the velocity vectors of the two detectors;
step B2, establishing a Mars direction measurement model as follows,
Figure FDA00030170145200000215
wherein the content of the first and second substances,
Figure FDA00030170145200000216
is a Mars direction measurement model, rmIs the location of the spark relative to the sun; r isiThe position of the detector flying in formation is represented as i is 1, and 2 respectively corresponds to the detector 1 and the detector 2;
Figure FDA00030170145200000217
measuring corresponding measurement noise for the quantity;
step B3, establishing a link distance measurement model between satellites as follows,
Z3(t)＝h3[X(t),t]+V3(t) (thirteen formula)
Wherein Z is3(t) is an inter-satellite link ranging model, V3(t) is measurement noise, h3[X(t),t]Is a measurement equation, expressed as follows,
Figure FDA0003017014520000031
wherein x is1、y1、z1Is the three-dimensional position of the probe 1; x is the number of2、y2、z2Is the three-dimensional position of the detector 2;
after the steps are completed, an extended Kalman filter EKF is used as a navigation filter, a star sensor is used for obtaining celestial body azimuth information, inter-satellite link measurement values and relative distances in the sun radial direction, and estimated position and speed information of a detector is obtained under the action of the EKF by combining a detector orbit dynamics model flying in formation.
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