CN108827323A - A kind of unidirectional autonomous navigation method of cislunar space spacecraft - Google Patents
A kind of unidirectional autonomous navigation method of cislunar space spacecraft Download PDFInfo
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- CN108827323A CN108827323A CN201810932960.XA CN201810932960A CN108827323A CN 108827323 A CN108827323 A CN 108827323A CN 201810932960 A CN201810932960 A CN 201810932960A CN 108827323 A CN108827323 A CN 108827323A
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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
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
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Abstract
A kind of unidirectional autonomous navigation method of cislunar space spacecraft, uniform time reference first, use repeater satellite the first array antenna received side-lobe signal or Deep Space Station uplink signal, GNSS satellite or Deep Space Station are obtained to the distance of L2 relay satellite and to the pitch angle of the first array antenna, azimuth, then cislunar space spacecraft emits signaling-information to second array antenna, obtain the pitch angle that signaling-information reaches second array antenna plane, azimuth, emit downlink distance measuring signal using second array antenna, obtain the Bottom Runby of cislunar space spacecraft and ground moon L2 relay satellite, and then obtain uplink signal, the angle of downlink signal, it finally calculates earth GNSS satellite or Deep Space Station and distance is blocked by the moon, obtain cislunar space spacecraft three-dimensional position, complete the unidirectional independent navigation of cislunar space spacecraft.
Description
Technical field
The present invention relates to deep space technical field of navigation and positioning, especially a kind of unidirectional independent navigation side of cislunar space spacecraft
Method.
Background technique
At this stage, due to there is no the satellite navigation infrastructure similar to Beidou, the moon in moon exploration activity on the moon
The navigation of ball detector is provided by tellurian Deep Space Network, by the ranging of S/X wave band TT & C architecture, is tested the speed and is interfered with very long baseline
(VLBI, Very Long Baseline Interferometry) angle measurement is measured to realize.However, due to the view of radio signal
Line propagation characteristic, ground Deep Space Network can only support the two-way of lunar surface user of the one side (near side of the moon) in the moon face earth to lead
Boat.Since the far-side of the moon is not received the radio signal from the earth by the masking of its own, therefore it is based on ground deep space
The moon navigation presence of net can not provide the difficulty of navigation Service for the lunar surface user of the moon back to the one side (far-side of the moon) of the earth
Point.It is a research puzzle for perplexing people that the moon, which blocks moon user's high-precision real-time navigation under constraint, covers the moon at present
The radio infrastructure at the ball back side is less, there is no economic and effective solution route, directly restricts the far-side of the moon
Scientific investigation, lunar surveyor development and utilization, lunar surveyor transport, moon back side manned moon landing etc. have important scientific meaning and high application
The development of value activities.Therefore, it is necessary to study fusions using terrestrial space radio infrastructure and to cover the far-side of the moon
Radio infrastructure supports the three-dimensional absolutely navigation of users' real-time high-precisions such as the landing of far-side of the moon lunar exploration device, lunar surface exploration
Method.
The existing space radio infrastructure for how utilizing cislunar space realizes cislunar space spacecraft unidirectionally from leading
Boat is to realize one of the following lunar resources exploration exploitation, the key technology for realizing far-side of the moon manned moon landing.
Summary of the invention
Present invention solves the technical problem that being：A kind of cislunar space spacecraft list is overcome the deficiencies of the prior art and provide
To autonomous navigation method, using lunar space the moon Lagrange L2 point Halo orbiting relay star by the deep space of terrestrial space
It stands, the uplink distance measurement signals in GNSS constellation space service airspace (space service volume, SSV) are unidirectionally forwarded
Give cislunar space spacecraft, cislunar space spacecraft in combination the moon Lagrange L2 point Halo orbiting relay star downlink ranging
The angle of signal and uplink and downlink signals realizes the independent navigation to its own, is to solve current cislunar space spacecraft to dominate certainly
Boat, the effective way of the Spacecraft Autonomous Navigation especially blocked by the moon.
The technical solution of the invention is as follows：A kind of unidirectional autonomous navigation method of cislunar space spacecraft, including walk as follows
Suddenly：
(1) time reference of GNSS satellite, Deep Space Station, L2 relay satellite is subjected to unification；
(2) array antenna that L2 relay satellite is pointed into the earth is denoted as the first array antenna, it is empty that L2 relay satellite is pointed into the ground moon
Between the array antenna of spacecraft be denoted as second array antenna, use the first array antenna received side-lobe signal or Deep Space Station uplink letter
Number, so obtain GNSS satellite or Deep Space Station to L2 relay satellite distanceWherein, side-lobe signal or Deep Space Station uplink signal
And be n, n is positive integer no more than n not less than 3, i, and side-lobe signal is that GNSS constellation satellite is sent；
(3) pitch angle of survey calculation GNSS satellite or Deep Space Station to ground moon L2 the first array antenna of relay satelliteSide
Parallactic angle
(4) control cislunar space spacecraft emits signaling-information to second array antenna, and measurement obtains signaling-information arrival
The pitch angle of second array antenna planeAzimuth
(5) using second array antenna to cislunar space Spacecraft Launch downlink distance measuring signal, measurement obtains cislunar space
The Bottom Runby of spacecraft and ground moon L2 relay satellite
(6) calculate i-th of GNSS satellite or Deep Space Station to ground moon L2 relay satellite uplink signal, the moon L2 relay satellite to
The included angle of month space device downlink signali；
(7) i-th of earth GNSS satellite or Deep Space Station is calculated, distance γ is blocked by the mooni；
(8) cislunar space spacecraft three-dimensional position (x, y, z) is resolvedT, and then it is unidirectionally autonomous to complete cislunar space spacecraft
Navigation.
The GNSS satellite, Deep Space Station, L2 relay satellite time reference when being Beidou, when GPS.
Distance of the GNSS satellite or Deep Space Station to L2 relay satelliteCalculation method be pseudo range measurement.
Pitch angle of the survey calculation GNSS satellite or Deep Space Station to ground moon L2 the first array antenna of relay satelliteAzimuthMethod be two-dimensional array Estimation of Spatial Spectrum.
The control cislunar space spacecraft to the signal that second array antenna emits further include signaling data, signaling number
According to include identification differently the moon space device Customs Assigned Number, record the timestamp of signaling data time of origin, signaling data class
Type.
The downlink distance measuring signal and signaling-information realizes full duplex by the way of frequency division.
I-th of GNSS satellite or Deep Space Station to ground the moon L2 relay satellite uplink signal, the moon L2 relay satellite to
The included angle of month space device downlink signaliCalculation method be：
If equation of the first array antenna plane under ECEF coordinate system is
a1x+b1y+c1z+d1=0
Wherein, n1=(a1,b1,c1)TIt is the normal vector in the first array antenna face, from GNSS satellite or ground Deep Space Station
Vector r of the incoming signal under ECEF coordinate systemi upFor
If equation of the second array antenna plane under ECEF coordinate system is
a2x+b2y+c2z+d2=0
Wherein, n2=(a2,b2,c2)TIt is the normal vector of second array antenna surface, the incoming signal from ground moon spacecraft exists
Vector under ECEF coordinate systemFor
And then obtain i-th of GNSS satellite or Deep Space Station to the moon L2 relay satellite uplink signal, the moon L2 relay satellite arrive
The angle of cislunar space spacecraft downlink signal is
Be calculated i-th of earth GNSS satellite or the Deep Space Station blocks distance γ by the mooniMethod be：
The resolving cislunar space spacecraft three-dimensional position (x, y, z)TMethod be：
Wherein, (x0,y0,z0)TIt is position coordinates of the ground moon L2 relay satellite under ECEF coordinate system, (xi,yi,zi)TIt is i-th
The position coordinates of a GNSS satellite position or Deep Space Station under ECEF coordinate system, c δ1For the clock deviation of ground moon L2 relay satellite, c δ2For ground
The clock deviation of month space device, c is the light velocity.
A kind of computer readable storage medium, the computer-readable recording medium storage has computer program, described
Computer program the step of the method as any such as claim 1- claim 9 is realized when being executed by processor.
The advantages of the present invention over the prior art are that：
(1) present invention provides a kind of unidirectional autonomous navigation method of cislunar space spacecraft, can the moon to ground GNSS and
In the case where Deep Space Station signal blocks, multi-source forwarding realization is carried out to cislunar space to signal is blocked using ground moon L2 point relay satellite
Spacecraft Autonomous Navigation；
(2) spacecraft air navigation aid in cislunar space of the present invention does not need to solve the clock deviation of user and ground moon L2 point relay satellite
Clock deviation has good use value.
Detailed description of the invention
Fig. 1 is the unidirectional independent navigation application scenarios of cislunar space spacecraft of the present invention；
Fig. 2 is the unidirectional independent navigation flow chart of cislunar space spacecraft of the present invention；
Fig. 3 is that the moon of the present invention blocks range recovery schematic diagram.
Specific embodiment
In view of the deficiencies of the prior art, the present invention proposes a kind of unidirectional autonomous navigation methods of cislunar space spacecraft, utilize
The far-side of the moon the ground moon Lagrangian points Halo orbiting relay star by earth Deep Space Station, GNSS constellation space service airspace
Uplink distance measurement signals progress in (space service volume, SSV) is unidirectionally transmitted to cislunar space spacecraft, in combination
The Halo orbiting relay star of month Lagrangian points to the downlink signal of cislunar space spacecraft, GNSS satellite or Deep Space Station to the moon
The angle of the uplink signal of the Halo orbiting relay star of Lagrangian points realizes the independent navigation of the space device of the moon over the ground, is solution
Certainly current cislunar space Spacecraft Autonomous Navigation, the effective way of the Spacecraft Autonomous Navigation especially blocked by the moon.
Spacecraft unidirectional independent navigation application scenarios in cislunar space of the present invention are as shown in Figure 1, single ground moon Lagrangian points
Halo orbiting relay star L2 by the multichannel uplink radio signal of ground Deep Space Network or the side of more terrestrial space GNSS satellites
Valved signal regeneration is transmitted to far-side of the moon navigation user, and cislunar space spacecraft is believed using L2 inbound and exit signal included angle
Breath and the sagittal range information of relay forwarding carry out restoration and reconstruction regeneration to the distance blocked by the moon；To rebuild regeneration
Range difference is allocated as observed quantity afterwards, calculates cislunar space spacecraft three-dimensional coordinate using non-iterative, realizes moon back
Face receives the approximate real time three-dimensional absolutely navigation of user.The present invention with single ground the moon Lagrangian points Halo orbiting relay star L2 be
Bridge makes far-side of the moon user can use multiple terrestrial space space-time datum nodes and realizes that itself navigates, and flow of navigation is as follows
Shown in Fig. 2.
The Halo orbiting relay star L2 of single ground moon Lagrangian points receives three or more GNSS constellation SSV signals and deep spaces
The uplink signal stood, and carry out uplink signal pseudo-random code ranging respectively and obtain between L2 and visible GNSS satellite, ground Deep Space Station
Distance, the incidence angle of uplink signal is measured by array antenna, the Bottom Runby between cislunar space spacecraft and L2 passes through
Unidirectional ranging is realized.Meanwhile L2 receives the signaling-information of cislunar space spacecraft, measures signaling-information by array antenna
Incidence angle, the angle of uplink and downlink signals is gone out by the angle calcu-lation of the array of two array antennas, and L2 believes three or more uplinks
Number distance measurement value and its cislunar space spacecraft, cislunar space space flight are sent to by microwave link with the angle value of downlink signal
Device blocks distance to the moon of three GNSS satellites or Deep Space Station and carries out recovery and rebuilding, and combines its downlink ranging information, finally
Realize the autonomous resolving of its three-dimensional space position.
To make the objectives, technical solutions, and advantages of the present invention more comprehensible, below to the present invention further specifically
It is bright.
(1) space-time datum is unified
The time reference of GNSS, Deep Space Station, L2 relay satellite was unified onto some atomic time of ground, when such as Beidou, when GPS
Deng space reference is used uniformly ECEF coordinate system (ECEF coordinate system).
(2) moon L2, relay satellite was to three or more GNSS satellites or Deep Space Station uplink signal ranging
L2 relay satellite utilizes and is pointed into the side-lobe signal or depth that the first array antenna received GNSS constellation satellite of the earth is broadcast
Sky station uplink signal, it (can be three or more that three or more GNSS satellites or Deep Space Station are calculated by way of pseudo range measurement
GNSS satellite signal, or more than two GNSS satellite signals and a Deep Space Station uplink signal) to L2 relay satellite away from
From
(3) moon L2, relay satellite carried out two-dimentional angle measurement to three or more GNSS satellites or Deep Space Station uplink signal
By the method for two-dimensional array Estimation of Spatial Spectrum to three or more GNSS satellites or Deep Space Station to ground moon L2 relay satellite
The incident angle for being pointed into the first array antenna of the earth measures, and provides three or more GNSS satellites respectively or Deep Space Station is opposite
In the pitch angle of the first array plane coordinate systemThe azimuth andWherein, the first array plane is sat
The origin of mark system is parallel to ground moon L2 relay satellite solar wing, Y for the center of ground moon L2 the first array antenna of relay satellite plane, X-axis
Axis meets the right-hand rule perpendicular to X-axis, Z axis in the first array antenna plane.
(4) the signaling-information two dimension angular sent out on the spacecraft of moon L2 Satellite observation cislunar space
Cislunar space spacecraft emits signaling-information to the second array antenna that L2 relay satellite is pointed into cislunar space spacecraft
And signaling data, the first half of signaling-information and signaling data is single carrier (signaling-information), is mainly used for signal incidence angle
Degree measurement, i.e. moon L2 relay satellite receive cislunar space spacecraft using the second array antenna for being pointed into cislunar space spacecraft
The signaling-information of upper hair, measurement signaling-information reach the incident angle of second array antenna plane, provide cislunar space spacecraft
Pitch angle relative to second array plane coordinate systemThe azimuth andLatter half is the signaling data of modulation, signaling
Data mainly include following four information：1) Customs Assigned Number, the information are to identify that differently moon space device user's is unique
Coding；2) timestamp, the time that record signaling occurs；3) wave beam is numbered, place when current position month space device sends signaling
Wave beam number；4) signaling event type describes subscriber signaling attribute, such as user positioning request, beam switchover.
(5) cislunar space spacecraft and the ground moon L2 unidirectional ranging of relay satellite downlink signal
Pitch angle of the ground moon L2 relay satellite base area month space device relative to second array plane coordinate systemThe side and
Parallactic angleUsing second array antenna to cislunar space Spacecraft Launch downlink distance measuring signal, moon spacecraft in ground passes through the ranging
Signal measurement obtains the Bottom Runby of cislunar space spacecraft and ground moon L2 relay satelliteDownlink distance measuring signal and signaling-information
Full duplex is realized by the way of frequency division.
(6) angle between uplink and downlink signals is calculated
Equation of the first array antenna plane of the earth under ECEF coordinate system is pointed into be represented by：
a1x+b1y+c1z+d1=0
Wherein, n1=(a1,b1,c1)TIt is perpendicular to the normal vector for being pointed into the first array antenna front of the earth, three or more
GNSS satellite or Deep Space Station to ground moon L2 relay satellite array incoming signal pitch angleThe azimuth andVector of the incoming signal from earth GNSS satellite or ground Deep Space Station under ECEF coordinate systemIt can be expressed as
Equation of the second array antenna plane of cislunar space spacecraft under ECEF coordinate system is pointed into be represented by：
a2x+b2y+c2z+d2=0
Wherein, n2=(a2,b2,c2)TIt is perpendicular to the normal direction for being pointed into the second array antenna array of cislunar space spacecraft
Amount, vector of the incoming signal from ground moon spacecraft under ECEF coordinate systemIt is represented by
Therefore i-th of GNSS satellite or Deep Space Station to ground moon L2 relay satellite uplink signal, the moon L2 relay satellite to ground moon sky
Between the angle of spacecraft downlink signal can be expressed as respectively
(7) range recovery is blocked by the moon
That the moon of the present invention blocks range recovery schematic diagram as shown in Figure 3, the ground moon L2 point satellite will come from i-th of earth
The Top Runby of the signal of GNSS satellite or Deep Space StationI-th of GNSS satellite or Deep Space Station are to ground moon L2 relaying
The uplink signal of star, the moon L2 relay satellite to cislunar space spacecraft downlink signal included anglei, i=1,2,3 passes through communication chain
Road is sent to cislunar space spacecraft, the Bottom Runby of base area month L2 point repeater satellite to cislunar space spacecraftAnd benefit
Realize that the moon blocks range recovery and is with the cosine law
Wherein γiIt is that i-th of the earth GNSS satellite restored or Deep Space Station by the moon block distance.
(8) the autonomous resolving of cislunar space spacecraft three-dimensional position
Utilize the Bottom Runby of cislunar space spacecraft and ground moon L2 relay satelliteThe distance γ blocked by the mooni,i
=1,2,3, the autonomous resolving for realizing its position by solving following equation under ECEF coordinate system.
Wherein, (x, y, z)TIt is the three-dimensional position of unknown cislunar space spacecraft to be solved, (x0,y0,z0)TIt is known
The ground moon L2 relay satellite position, (xi,yi,zi)TIt is known terrestrial space GNSS satellite position or deep space station location, c δ1With c δ2
Respectively the moon L2 relay satellite clock deviation and cislunar space spacecraft clock deviation, c is the light velocity.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (10)
1. a kind of unidirectional autonomous navigation method of cislunar space spacecraft, it is characterised in that include the following steps：
(1) time reference of GNSS satellite, Deep Space Station, L2 relay satellite is subjected to unification；
(2) array antenna that L2 relay satellite is pointed into the earth is denoted as the first array antenna, L2 relay satellite is pointed into cislunar space boat
The array antenna of its device is denoted as second array antenna, using the first array antenna received side-lobe signal or Deep Space Station uplink signal,
And then obtain GNSS satellite or Deep Space Station to L2 relay satellite distanceWherein, the sum of side-lobe signal or Deep Space Station uplink signal
For n, for n not less than the positive integer that 3, i is no more than n, side-lobe signal is the transmission of GNSS constellation satellite；
(3) pitch angle of survey calculation GNSS satellite or Deep Space Station to ground moon L2 the first array antenna of relay satelliteAzimuth
(4) control cislunar space spacecraft emits signaling-information to second array antenna, and measurement obtains signaling-information and reaches second
The pitch angle of array antenna planeAzimuth
(5) using second array antenna to cislunar space Spacecraft Launch downlink distance measuring signal, measurement obtains cislunar space space flight
The Bottom Runby of device and ground moon L2 relay satellite
(6) calculate i-th of GNSS satellite or Deep Space Station to ground moon L2 relay satellite uplink signal, the moon L2 relay satellite to the moon sky
Between spacecraft downlink signal included anglei；
(7) i-th of earth GNSS satellite or Deep Space Station is calculated, distance γ is blocked by the mooni；
(8) cislunar space spacecraft three-dimensional position (x, y, z) is resolvedT, and then complete the unidirectional independent navigation of cislunar space spacecraft.
2. a kind of unidirectional autonomous navigation method of cislunar space spacecraft according to claim 1, it is characterised in that：Described
GNSS satellite, Deep Space Station, L2 relay satellite time reference be Beidou when, when GPS.
3. a kind of unidirectional autonomous navigation method of cislunar space spacecraft according to claim 1 or 2, it is characterised in that：Institute
The distance of the GNSS satellite stated or Deep Space Station to L2 relay satelliteCalculation method be pseudo range measurement.
4. a kind of unidirectional autonomous navigation method of cislunar space spacecraft according to claim 1 or 2, it is characterised in that：Institute
The pitch angle of the survey calculation GNSS satellite stated or Deep Space Station to ground moon L2 the first array antenna of relay satelliteAzimuth
Method be two-dimensional array Estimation of Spatial Spectrum.
5. a kind of unidirectional autonomous navigation method of cislunar space spacecraft according to claim 1 or 2, it is characterised in that：Institute
The control cislunar space spacecraft stated further includes signaling data to the signal that second array antenna emits, and signaling data includes identification
Differently the moon space device Customs Assigned Number, record the timestamp of signaling data time of origin, signaling data type.
6. a kind of unidirectional autonomous navigation method of cislunar space spacecraft according to claim 1 or 2, it is characterised in that：Institute
The downlink distance measuring signal and signaling-information stated realize full duplex by the way of frequency division.
7. a kind of unidirectional autonomous navigation method of cislunar space spacecraft according to claim 1 or 2, it is characterised in that：Institute
I-th of GNSS satellite stating or Deep Space Station to ground moon L2 relay satellite uplink signal, the moon L2 relay satellite to cislunar space space flight
The included angle of device downlink signaliCalculation method be：
If equation of the first array antenna plane under ECEF coordinate system is
a1x+b1y+c1z+d1=0
Wherein, n1=(a1,b1,c1)TIt is the normal vector in the first array antenna face, the incidence from GNSS satellite or ground Deep Space Station
Vector of the signal under ECEF coordinate systemFor
If equation of the second array antenna plane under ECEF coordinate system is
a2x+b2y+c2z+d2=0
Wherein, n2=(a2,b2,c2)TIt is the normal vector of second array antenna surface, the incoming signal from ground moon spacecraft is in ECEF
Vector under coordinate systemFor
And then obtain i-th of GNSS satellite or Deep Space Station to ground the moon L2 relay satellite uplink signal, the moon L2 relay satellite to the moon
The angle of space device downlink signal is
8. a kind of unidirectional autonomous navigation method of cislunar space spacecraft according to claim 7, it is characterised in that：Described
I-th of earth GNSS satellite or Deep Space Station is calculated, distance γ is blocked by the mooniMethod be：
9. a kind of unidirectional autonomous navigation method of cislunar space spacecraft according to claim 8, it is characterised in that：Described
It resolves cislunar space spacecraft three-dimensional position (x, y, z)TMethod be：
Wherein, (x0,y0,z0)TIt is position coordinates of the ground moon L2 relay satellite under ECEF coordinate system, (xi,yi,zi)TIt is i-th
The position coordinates of GNSS satellite position or Deep Space Station under ECEF coordinate system, c δ1For the clock deviation of ground moon L2 relay satellite, c δ2For the ground moon
The clock deviation of space device, c are the light velocity.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, feature
It is, the step such as any the method for claim 1- claim 9 is realized when the computer program is executed by processor
Suddenly.
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