CN108919283A - Autonomous noncooperative target Relative Navigation and system on a kind of star - Google Patents
Autonomous noncooperative target Relative Navigation and system on a kind of star Download PDFInfo
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- CN108919283A CN108919283A CN201810403834.5A CN201810403834A CN108919283A CN 108919283 A CN108919283 A CN 108919283A CN 201810403834 A CN201810403834 A CN 201810403834A CN 108919283 A CN108919283 A CN 108919283A
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- noncooperative target
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
Abstract
The invention discloses noncooperative target Relative Navigations autonomous on a kind of star and system, this method to include：Establish the dynamics of relative motion equation of active spacecraft Yu noncooperative target spacecraft；Establish the observational equation based on the observable measurement data of active spacecraft satellite borne equipment；According to design conditions on star, the filter to match is chosen；According to dynamics of relative motion equation and observational equation, it is filtered calculating according to the filter of selection to match, obtains calculated result；The Relative Navigation information of noncooperative target spacecraft is determined according to the calculated result.The present invention is directed to obtain the Relative Navigation information of high-precision noncooperative target spacecraft, to meet the in-orbit requirement of spacecraft.
Description
Technical field
The invention belongs to noncooperative target Relative Navigation autonomous on space technology field more particularly to a kind of star and
System.
Background technique
With deepening continuously for mankind's exploration of the universe space, to space technology, more stringent requirements are proposed.Such as spacecraft
The problems such as in-orbit capture is removed with maintenance, space junk has become space technology development and needs the technical problem for facing and solving.
More in recent years institutes and colleges and universities have carried out the Relative Navigation research to noncooperative target, these grind
The method of studying carefully is mainly based upon ground by conditions such as measurement parameters on known orbit parameter and star, in conjunction with dynamics of relative motion
Equation design Relative Navigation filter is to obtain Relative Navigation information.It is further with autonomous control ability with being calculated on star
It is promoted, is expected to realize that spacecraft itself carries out in-orbit calculating and processing using observation informations such as ranging, angle measurements, obtain to target
The Relative Navigations parameter such as relative position and relative velocity, and then solve the problems, such as the Relative Navigation of noncooperative target.
However, that there are observed quantities is incomplete, lacks relative positioning currently, being directed to the accurate Relative Navigation of noncooperative target
The problems such as mark, the promotion of the task controls precision such as this capture in-orbit to spacecrafts rendezvous spacecraft and maintenance, space junk removing
It is totally unfavorable.
Summary of the invention
Technology of the invention solves the problems, such as：Overcome the deficiencies of the prior art and provide noncooperative target autonomous on a kind of star
Relative Navigation and system, it is intended to the Relative Navigation information of high-precision noncooperative target spacecraft is obtained, to meet space flight
The in-orbit requirement of device.
In order to solve the above-mentioned technical problem, the invention discloses noncooperative target Relative Navigation sides autonomous on a kind of star
Method, including：
Establish the dynamics of relative motion equation of active spacecraft Yu noncooperative target spacecraft；
Establish the observational equation based on the observable measurement data of active spacecraft satellite borne equipment；
According to design conditions on star, the filter to match is chosen；
According to dynamics of relative motion equation and observational equation, meter is filtered according to the filter of selection to match
It calculates, obtains calculated result；
The Relative Navigation information of noncooperative target spacecraft is determined according to the calculated result.
On above-mentioned star in autonomous noncooperative target Relative Navigation, establishes active spacecraft and noncooperative target is navigated
The dynamics of relative motion equation of its device, including：
Using the orbital coordinate system of noncooperative target spacecraft as relative motion reference frame, with noncooperative target space flight
The mass center of device is origin, establishes the dynamics of relative motion equation of active spacecraft Yu noncooperative target spacecraft：
Wherein, [x y z]TIndicate that position vector of the active spacecraft with respect to noncooperative target spacecraft, n indicate track angle
Speed, [fx fy fz]TIndicate acceleration of the control force under target track system.
On above-mentioned star in autonomous noncooperative target Relative Navigation, establishing can based on active spacecraft satellite borne equipment
The observational equation of the measurement data of observation, including：
Selecting active spacecraft with respect to noncooperative target spacecraft is relative position and phase in the quantity of state of reference frame
To speed, obtain：
Wherein, X indicates quantity of state, r=[x, y, z]TIndicate that active spacecraft is being referred to respect to noncooperative target spacecraft
The Relative position vector of coordinate system,Indicate active spacecraft with respect to noncooperative target spacecraft in reference frame
Relative velocity vector；
The quantity of state provided using line-of-sight distance ρ, sight azimuth angle alpha and elevation angle δ as observed quantity according to formula (2) and observation
The geometrical relationship of amount, establishes observational equation：
Wherein, [ερ εα εδ]TNoise for the observed quantity determined according to the Surveying Actual Precision of satellite borne equipment.
On above-mentioned star in autonomous noncooperative target Relative Navigation, filter, including：Parallel arrangement of first son
Filter and the second subfilter, and, senior filter.
On above-mentioned star in autonomous noncooperative target Relative Navigation, according to dynamics of relative motion equation and observation
Equation is filtered calculating according to the filter of selection to match, obtains calculated result, including：
Ranging information is filtered by the first subfilter of selection, obtains the first filter result；
Angle Information is filtered by the second subfilter of selection, obtains the second filter result；
Fusion treatment is carried out to first filter result and the second filter result by senior filter, obtains global filtering
As a result.
On above-mentioned star in autonomous noncooperative target Relative Navigation, non-cooperative target is determined according to the calculated result
The Relative Navigation information of spacecraft is marked, including：
It is asked according to the first filter result, the second filter result and global filtering as a result, carrying out centralized Kalman filter EKF
Solution, obtains the Relative Navigation information of noncooperative target spacecraft.
Correspondingly, the invention also discloses noncooperative target relative navigation systems autonomous on a kind of star, including：
Establishing equation module, for establishing the dynamics of relative motion side of active spacecraft Yu noncooperative target spacecraft
Journey；And establish the observational equation based on the observable measurement data of active spacecraft satellite borne equipment；
Selecting module, for choosing the filter to match according to design conditions on star；
Filter module is used for according to dynamics of relative motion equation and observational equation, according to the filtering of selection to match
Device is filtered calculating, obtains calculated result；
Navigation module, for determining the Relative Navigation information of noncooperative target spacecraft according to the calculated result.
The present invention has the following advantages that：
(1) present invention can apply to the complicated space missions such as spacecraft in-orbit service, space junk cleaning, to solve space
The Relative Navigation problem of noncooperative target spacecraft provides a kind of technical method of in-orbit realization on star：It can obtain through the invention
To the Relative Navigation information of high-precision noncooperative target spacecraft, meets the in-orbit capture of spacecraft and maintenance, space junk are clear
Except etc. space tasks demand.
(2) the present invention is based on engineering duty demands, establish the opposite fortune of active spacecraft and noncooperative target spacecraft
Dynamic kinetics equation, the model simplification under the conditions of to have solved the problems, such as sufficient on star resource-constrained, can effectively ensure on star realization oneself
Main Relative Navigation.
(3) present invention is proposed for spacecraft to observed quantities such as the opposite ranging of noncooperative target, angle measurements using suitable
" parallel filtering " method calculated on star carries out Relative Navigation calculating, significantly reduces calculation amount, efficiently solves and calculate on star
Resource-constrained engineering problem has stronger engineering practicability for realizing Autonomous Relative Navigation important role on star.
Detailed description of the invention
Fig. 1 is a kind of step flow chart of noncooperative target Relative Navigation autonomous on star in the embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of filter in the embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to disclosed by the invention
Embodiment is described in further detail.
The invention discloses noncooperative target Relative Navigation autonomous on a kind of star and systems, can be applied to spacecraft
The complicated space missions such as in-orbit service, space junk cleaning, for the Relative Navigation for solving the problems, such as space non-cooperative target spacecraft
Provide a kind of technical solution of in-orbit realization on star.
Referring to Fig.1, a kind of step of noncooperative target Relative Navigation autonomous on star in the embodiment of the present invention is shown
Rapid flow chart.In the present embodiment, noncooperative target Relative Navigation autonomous on the star, including：
Step 101, the dynamics of relative motion equation of active spacecraft Yu noncooperative target spacecraft is established.
It in the present embodiment, can be using the orbital coordinate system of noncooperative target spacecraft as relative motion reference coordinate
System, using the mass center of noncooperative target spacecraft as origin, x-axis in orbit plane with refer to place to vertical and along flight side
To z-axis is local to y-axis is perpendicular to orbit plane and meets right-hand screw rule along referring to.It is assumed that noncooperative target spacecraft is along circle
Track operation then passes through the dynamics of relative motion equation that active spacecraft Yu noncooperative target spacecraft can be obtained after simplifying：
Wherein, [x y z]TIndicate that position vector of the active spacecraft with respect to noncooperative target spacecraft, n indicate track angle
Speed, [fx fy fz]TIndicate acceleration of the control force under target track system；Formula (1) is the system equation of Relative Navigation.
Step 102, the observational equation based on the observable measurement data of active spacecraft satellite borne equipment is established.
In the present embodiment, can choose active spacecraft with respect to noncooperative target spacecraft reference frame state
Amount is relative position and relative velocity, is obtained：
Wherein, X indicates quantity of state, r=[x, y, z]TIndicate that active spacecraft is being referred to respect to noncooperative target spacecraft
The Relative position vector of coordinate system,Indicate active spacecraft with respect to noncooperative target spacecraft in reference frame
Relative velocity vector.
The quantity of state provided using line-of-sight distance ρ, sight azimuth angle alpha and elevation angle δ as observed quantity according to formula (2) and observation
The geometrical relationship of amount, can establish observational equation：
Wherein, [ερ εα εδ]TNoise for the observed quantity determined according to the Surveying Actual Precision of satellite borne equipment.
Step 103, according to design conditions on star, the filter to match is chosen.
In engineering, usually using the side centralized Kalman filter (Extended Kalman Filter, abbreviation EKF)
Method focuses on observed quantity.In the present embodiment, it carries out analysis by the solution equation to EKF to find, in each filter
The wave moment is directed to matrix inversion operation, if corresponding matrix order is higher when to observation Data Centralized Processing, corresponding square
Battle array inversion calculation amount it is directly proportional to the cube of matrix order, this will lead to observed quantity it is more when filter calculation amount it is larger.
Preferably, in embodiments of the present invention, using " parallelism wave filter " carry out Relative Navigation resolving, for ranging,
Angle measurement observed quantity separately designs two subfilters and is independently filtered, and designs senior filter for the partial navigation number of subfilter
According to data fusion is carried out, global filtering is finally obtained as a result, filtering derivation amount can be effectively reduced, and is conducive to autonomous on star
It realizes.
Referring to Fig. 2, a kind of schematic diagram of filter in the embodiment of the present invention is shown.Such as Fig. 2, filter may include：
Parallel arrangement of first subfilter and the second subfilter, and, senior filter.Wherein, the first subfilter is directed to ranging
Information is individually filtered；Second subfilter is individually filtered for Angle Information；Senior filter carries out data fusion.By
Be in the relationship of measured value and system mode it is nonlinear, the first subfilter and the second subfilter are required to pass through expansion card
Kalman Filtering carries out Relative Navigation calculating, and specific filtering is calculated can be found in and is described below.
Step 104, it according to dynamics of relative motion equation and observational equation, is carried out according to the filter of selection to match
Filtering calculates, and obtains calculated result.
In the present embodiment, such as Fig. 2, ranging information can be filtered by the first subfilter of selection, is obtained
First filter result；Angle Information is filtered by the second subfilter of selection, obtains the second filter result；Finally,
Fusion treatment is carried out to first filter result and the second filter result by senior filter, obtains global filtering result.
Preferably, the first subfilter is filtered ranging information.
In the present embodiment, by above-mentioned formula (1) and formula (3), the available Relative Navigation model based on ranging：
Wherein, Φ1And B1Respectively indicating distance-measuring equipment, measurement data corresponds to the state matrix that the time difference is discrete time twice
With control matrix,XkFor the State Estimation that current time is new, Xk-1Estimate for the state of previous moment
Value, Uk-1For the relative motion acceleration that the control force of previous moment generates, YkFor the observed quantity of current time line-of-sight distance, ερFor
The noise of line-of-sight distance observed quantity.
Due to the relationship of distance measurement value and system mode be it is nonlinear, Relative Navigation can be carried out by Extended Kalman filter
It calculates, calculation matrix H can be calculated in real time by Jacobian matrix, and repeats no more herein.
Preferably, the second subfilter is filtered Angle Information.
In the present embodiment, by above-mentioned formula (1) and formula (3), the available Relative Navigation model based on angle measurement：
Wherein, Φ2And B2Respectively indicating angle-measuring equipment, measurement data corresponds to the state matrix that the time difference is discrete time twice
With control matrix,For the noise of angle measurement observed quantity.
Due to the relationship of angle measurement value and system mode be it is nonlinear, also need to carry out phase by Extended Kalman filter
Navigation is calculated.
Preferably, senior filter carries out fusion treatment to the first filter result and the second filter result.
In the present embodiment, for ranging, Local Navigation data result (first filter result of two subfilters of angle measurement
With the second filter result), senior filter needs to carry out fusion treatment, and then obtains global filtering result.Wherein, senior filter exists
Can specifically include when fusion treatment：State recursion and data fusion two parts.
State recursion：
In the present embodiment, it is contemplated that the measurement moment of measurement data is generally earlier than filtered time instant, and different measuring devices
The measurement moment be also not quite similar, it is therefore desirable to the Local Navigation data of each subfilter are subjected to state recursion and are estimated,
Obtain the state estimation at the current filter moment.
Data fusion：
In the present embodiment, the covariance information to each subfilter and current recursion status information merge：
It is assumed that ranging and angle-measuring equipment measurement moment are t more early than current time respectively1、t2,WithTable respectively
Show discrete state matrix and control matrix, Uk1And Uk2Respectively indicate the acceleration that average control power generates in two periods, phase
It is as follows to Orbit simulation formula：
In formula,WithTwo subfilters are respectively indicated in the partial estimation value at current time；WithRespectively
Indicate the local state valuation that two subfilters are obtained according to previous moment measured value.
It is assumed that P1(k)、P2(k) the system covariance matrix being calculated for two subfilters, can carry out as follows
Data processing：
Step 105, the Relative Navigation information of noncooperative target spacecraft is determined according to the calculated result.
It in the present embodiment, can be according to the first filter result, the second filter result and global filtering as a result, being concentrated
Formula Kalman filtering EKF is solved, and obtains the Relative Navigation information of noncooperative target spacecraft.Specifically：
Solution equation based on EKF method is：
Wherein,The further predicted value of expression state, KkIndicate filtering gain matrix, Pk,k-1Indicate prediction error variance
Battle array, PkIndicate estimation error variance battle array, Qk-1Indicate system noise variance matrix, RkIndicate observation noise variance matrix, HkIndicate linear
Observing matrix after change, YkIndicate observation vector.
For ranging data：
For angle measurement data：
Wherein, C1It indicates to be converted into the coordinate conversion matrix between position vector by distance measure on star, R is that position is inclined
Shifting amount, X are state vector, C2To be converted into the coordinate conversion matrix between position vector by star upper angle measured value.
As previously mentioned, the Relative Navigation model based on ranging and angle measurement that formula (4) and (5) provide, passes through expansion card respectively
Kalman Filtering equation (8) is solved, and recycles formula (6) and (7) to carry out data processing solving result, is finally obtained any
The state estimation at moment.
Therefore, it givesAnd P0, according to the observation at k moment, can recursion obtain the state estimation at k momentThe quantity of state in reference frame of active spacecraft relative target spacecraft, that is, phase can be obtained
To position and relative velocity.
Simulation analysis shows the Relative Navigation problem for single ranging, double Angle Informations, using it is proposed by the present invention " simultaneously
Row filtering " method carries out Relative Navigation calculating, the calculation amount of matrix inversion is reduced, in the premise for guaranteeing identical solving precision
Under, relative to EKF method, operation efficiency improves 50% or more.In addition, filtering of the invention is answered based on EKF method is in-orbit
Improvement, essence are still kalman filter method, and this method correctness simultaneously has not been changed.
On the basis of the above embodiments, the invention also discloses noncooperative target Relative Navigation systems autonomous on a kind of star
System, including：Establishing equation module, for establishing the dynamics of relative motion side of active spacecraft Yu noncooperative target spacecraft
Journey；And establish the observational equation based on the observable measurement data of active spacecraft satellite borne equipment；Selecting module is used for root
According to design conditions on star, the filter to match is chosen；Filter module, for according to dynamics of relative motion equation and observation side
Journey is filtered calculating according to the filter of selection to match, obtains calculated result；Navigation module, by according to based on described
Calculate the Relative Navigation information that result determines noncooperative target spacecraft.
For system embodiments, since it is corresponding with embodiment of the method, so be described relatively simple, correlation
Place referring to embodiment of the method part explanation.
Various embodiments are described in a progressive manner in this explanation, the highlights of each of the examples are with its
The difference of his embodiment, the same or similar parts between the embodiments can be referred to each other.
The above, optimal specific embodiment only of the invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (7)
1. autonomous noncooperative target Relative Navigation on a kind of star, which is characterized in that including：
Establish the dynamics of relative motion equation of active spacecraft Yu noncooperative target spacecraft；
Establish the observational equation based on the observable measurement data of active spacecraft satellite borne equipment；
According to design conditions on star, the filter to match is chosen；
According to dynamics of relative motion equation and observational equation, it is filtered calculating according to the filter of selection to match, is obtained
To calculated result；
The Relative Navigation information of noncooperative target spacecraft is determined according to the calculated result.
2. autonomous noncooperative target Relative Navigation on star according to claim 1, which is characterized in that establish actively
The dynamics of relative motion equation of spacecraft and noncooperative target spacecraft, including：
Using the orbital coordinate system of noncooperative target spacecraft as relative motion reference frame, with noncooperative target spacecraft
Mass center is origin, establishes the dynamics of relative motion equation of active spacecraft Yu noncooperative target spacecraft：
Wherein, [x y z]TIndicate that position vector of the active spacecraft with respect to noncooperative target spacecraft, n indicate orbit angular velocity,
[fx fy fz]TIndicate acceleration of the control force under target track system.
3. autonomous noncooperative target Relative Navigation on star according to claim 1, which is characterized in that foundation is based on
The observational equation of the observable measurement data of active spacecraft satellite borne equipment, including：
Select active spacecraft for relative position and relatively fast in the quantity of state of reference frame with respect to noncooperative target spacecraft
Degree, obtains：
Wherein, X indicates quantity of state, r=[x, y, z]TIndicate active spacecraft with respect to noncooperative target spacecraft in reference frame
Relative position vector,Indicate active spacecraft with respect to noncooperative target spacecraft in the opposite of reference frame
Velocity vector；
Using line-of-sight distance ρ, sight azimuth angle alpha and elevation angle δ as observed quantity, the quantity of state that is provided according to formula (2) and observed quantity
Geometrical relationship establishes observational equation：
Wherein, [ερ εα εδ]TNoise for the observed quantity determined according to the Surveying Actual Precision of satellite borne equipment.
4. autonomous noncooperative target Relative Navigation on star according to claim 1, which is characterized in that filter,
Including：Parallel arrangement of first subfilter and the second subfilter, and, senior filter.
5. autonomous noncooperative target Relative Navigation on star according to claim 4, which is characterized in that according to opposite
Kinematics equation and observational equation are filtered calculating according to the filter of selection to match, obtain calculated result, packet
It includes：
Ranging information is filtered by the first subfilter of selection, obtains the first filter result；
Angle Information is filtered by the second subfilter of selection, obtains the second filter result；
Fusion treatment is carried out to first filter result and the second filter result by senior filter, obtains global filtering knot
Fruit.
6. autonomous noncooperative target Relative Navigation on star according to claim 5, which is characterized in that according to described
Calculated result determines the Relative Navigation information of noncooperative target spacecraft, including：
According to the first filter result, the second filter result and global filtering as a result, carrying out centralized Kalman filter EKF solution,
Obtain the Relative Navigation information of noncooperative target spacecraft.
7. autonomous noncooperative target relative navigation system on a kind of star, which is characterized in that including：
Establishing equation module, for establishing the dynamics of relative motion equation of active spacecraft Yu noncooperative target spacecraft；With
And establish the observational equation based on the observable measurement data of active spacecraft satellite borne equipment；
Selecting module, for choosing the filter to match according to design conditions on star；
Filter module, for according to dynamics of relative motion equation and observational equation, according to selection the filter to match into
Row filtering calculates, and obtains calculated result；
Navigation module, for determining the Relative Navigation information of noncooperative target spacecraft according to the calculated result.
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| CN108919283B (en) | 2022-02-01 |
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