CN110174850A - Angle measurement test the speed Integrated Navigation Semi-physical Simulation verifying system and method - Google Patents
Angle measurement test the speed Integrated Navigation Semi-physical Simulation verifying system and method Download PDFInfo
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- CN110174850A CN110174850A CN201910362953.5A CN201910362953A CN110174850A CN 110174850 A CN110174850 A CN 110174850A CN 201910362953 A CN201910362953 A CN 201910362953A CN 110174850 A CN110174850 A CN 110174850A
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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
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
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Abstract
It tests the speed Integrated Navigation Semi-physical Simulation verifying system the present invention provides a kind of angle measurement, including deep space dynamics environment simulation subsystem；The deep space dynamics environment simulation subsystem includes dynamics host, real-time simulation platform；Deep space dynamics environment model is loaded onto real-time simulation platform by serial communication by the dynamics host.It tests the speed air navigation aid the present invention also provides a kind of verifying angle measurement.Angle measurement proposed by the present invention is tested the speed Integrated Navigation Semi-physical Simulation verifying system, is based on real-time simulation platform, based on serial communication mode, is designed and built angle measurement and test the speed Integrated Navigation Semi-physical Simulation verification platform.Angle measurement proposed by the present invention is tested the speed Integrated Navigation Semi-physical Simulation verification method, is provided theoretical and technical support for deep space exploration program navigation task, while reducing technical costs, is shortened the lead time, has very strong engineering value.
Description
Technical field
The invention belongs to deep space navigation fields, and in particular, to a kind of angle measurement is tested the speed Integrated Navigation Semi-physical Simulation verifying
System and method.
Background technique
The autonomous navigation technology of current deep space exploration realizes navigational state by astronomical angle measurement or ranging information mostly
Real-time estimation is constrained reason by target celestial body observation condition, not can guarantee and obtain real-time, continuous navigation information for a long time.When
When detector is moved with respect to sun/stars, since the spectral frequency that Doppler effect receives detector can shift, base
The velocity information of detector can be obtained with inverting in the offset.Angle measurement airmanship obtains in external deep space exploration program
It realizes, the space navigator that tests the speed also has been completed the engineering of principle prototype, estimates in conjunction with angle measurement navigation is high-precision to position
Meter, the angle measurement Combinated navigation method that tests the speed can effectively realize that detector is continuous autonomous, real-time high-precision navigation, in deep space exploration task
In have a high potential.
Demand in face of subsequent deep space exploration task to high-performance independent navigation, to angle measurement test the speed integrated navigation carry out test
Research is urgent and necessary.Since the in-orbit space of space flight is tested expensive in real time, it is imitative that it is currently all made of indoor semi physical both at home and abroad
True system carries out experimental study.
Summary of the invention
For the defects in the prior art, it tests the speed Integrated Navigation Semi-physical Simulation the object of the present invention is to provide a kind of angle measurement
Verify system and method.
A kind of angle measurement provided according to the present invention is tested the speed Integrated Navigation Semi-physical Simulation verifying system, including deep space dynamics
Environmental simulation subsystem；
The deep space dynamics environment simulation subsystem includes dynamics host, real-time simulation platform；
Deep space dynamics environment model is loaded onto real-time simulation platform by serial communication by the dynamics host.
It preferably, further include angle measurement navigation subsystem；
The angle measurement navigation subsystem include navigation picture replicating machine, navigation picture simulator, angle measurement navigation sensor with
And angle measurement navigational computer；
The navigation picture replicating machine is from the real-time simulation platform real-time reception data；By image simulation algorithm from depth
Lost motion mechanical environment model obtains simulation real image data, and simulation real image data is sent to navigation picture simulation
Device；The navigation picture simulator is by the navigation picture optic path of formation to angle measurement navigation sensor；The angle measurement navigation is quick
Sensor obtains angle measurement navigation information by image processing algorithm, and angle measurement navigation information is sent to angle measurement navigational computer.
It preferably, further include the navigation subsystem that tests the speed；
The navigation subsystem that tests the speed, including navigation spectral titration machine, navigation spectral simulation device, the navigation sensor that tests the speed,
Test the speed navigational computer；
The navigation spectral titration machine is dynamic from deep space by spectral titration algorithm from real-time simulation platform real-time reception data
Mechanical environment model obtains simulation real spectrum data, and simulation real spectrum data are sent to navigation spectral simulation device；Institute
It states navigation spectral simulation device and the navigation spectrum optical path of formation is transmitted to the navigation sensor that tests the speed；The navigation sensor that tests the speed is logical
It crosses spectral manipulation algorithm and obtains the navigation information that tests the speed, and the navigation information that will test the speed is sent to the navigational computer that tests the speed.
It preferably, further include algorithm of combined navigation subsystem；
The algorithm of combined navigation subsystem includes integrated navigation computer；
The integrated navigation computer receives angle measurement navigation information from angle measurement navigational computer respectively, from testing the speed, navigation is calculated
Machine reception is tested the speed navigation information, is obtained angle measurement and is tested the speed and integrated navigation information and solves.
It preferably, further include navigation performance assessment and demonstration subsystem；
The navigation performance assessment and demonstration subsystem include navigation performance assessment computer, real time demonstration platform and number
According to storage；
The integrated navigation computer according to angle measurement navigation information, test the speed navigation information and angle measurement is tested the speed integrated navigation letter
Breath obtains navigation performance information by navigation performance algorithm；The real time demonstration platform demonstrates visual navigation performance information
It tests the speed integrated navigation information with angle measurement；Integrated navigation that the data storage navigation information stores navigation performance information, angle measurement is tested the speed
Information.
It tests the speed air navigation aid the present invention also provides a kind of verifying angle measurement, tests the speed integrated navigation including the use of above-mentioned angle measurement
Semi-physical simulation verifying system tests the speed to angle measurement the following steps that semi-physical simulation verified of navigating:
System initial step: according to deep space dynamics environment model, initialization angle measurement navigation moderate heat star image simulation is obtained
Sun/stars spectral simulation device in device, navigation of testing the speed；
Semi physical system real-time simulation step: according in initialization angle measurement navigation moderate heat star image simulator, navigation of testing the speed
Sun/stars spectral simulation device, test the speed navigate estimated result, angle measurement of acquisition are tested the speed tight integration Navigation estimated result；
Result visualization step: navigation assessment carries out Performance Evaluation with demo system, obtains assessment result；Navigation is assessed
Real-time Visualization Demo is done with estimated result, assessment result, the deep space environment of demo system.
Preferably, the system initial step includes following sub-step:
Noise obtaining step: according to the deep space dynamics environment model in dynamics host, it is dynamic to obtain initialization deep space
Mechanical environment；According to image noise model, spectral noise model, initialisation image noise and spectral noise are obtained；
The initialization deep space dynamics environment include start time, planet ephemeris, fixed star ephemeris and detector this four
The initial pose of person；
Simulator obtaining step: according in navigation picture simulator Mars iconic model, navigation spectral simulation device in
Sun/stars spectral model, obtain initialization angle measurement navigation moderate heat star image simulator, test the speed navigation in sun/stars spectrum
Simulator.
Preferably, the semi physical system real-time simulation step includes following sub-step:
Input obtaining step: according to the installation matrix of detector pose parameter and sensor in integrated navigation computer,
The optical axis for obtaining angle measurement navigation camera is directed toward parameter, and the input as Mars image simulator；It is deep according to the initialization of acquisition
Lost motion mechanical environment obtains the speed of sun/stars opposing detector, and the input as the navigation sensor that tests the speed.
Signal acquisition step: according to initialisation image noise, initialization angle measurement navigation moderate heat star image simulator and fire
The input of star image simulator obtains the picture signal that current time detector is observed；According to initialization spectral noise, survey
The input of sun/stars spectral simulation device and the navigation sensor that tests the speed in speed navigation, obtains current time detector and is observed
The spectral signal arrived；
Preferably, the result visualization step includes following sub-step:
Estimated result obtaining step: the picture signal that the acquisition of angle measurement navigation sensor obtains, by Image Information Processing and
Feature extraction algorithm, obtains navigation target image centroid parameter, and the input parameter as angle measurement navigation algorithm, and output angle measurement is led
Navigate estimated result；The navigation sensor that tests the speed acquires spectral signal, by spectral information processing and feature extraction algorithm, obtains too
Sun/fixed star opposing detector relative velocity, and the input value as the navigation algorithm that tests the speed, output, which tests the speed to navigate, estimates knot
Fruit；
Estimated result exports step: according to angle measurement navigation estimated result, test the speed the estimated result that navigates, and calculates as integrated navigation
The input of method, obtains angle measurement and tests the speed the estimation of tight integration Navigation, and output angle measurement is tested the speed integrated navigation estimated result；
Visualization Demo step: according to angle measurement navigate estimated result, test the speed and navigate estimated result and angle measurement is tested the speed combination
Navigate estimated result, navigation assessment and demo system to angle measurement navigation algorithm, test the speed navigation algorithm and feature extraction algorithm this
Three carries out Performance Evaluation, and to angle measurement navigation estimated result, test the speed and navigate estimated result and angle measurement integrated navigation of testing the speed is estimated
Meter result and deep space environment do real-time Visualization Demo.
Preferably, the deep space dynamics environment, including start time, planet ephemeris, fixed star ephemeris and detector
Initial pose.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, angle measurement proposed by the present invention test the speed Integrated Navigation Semi-physical Simulation verifying system, be based on real-time simulation platform, with
Based on serial communication mode, designs and built angle measurement and test the speed Integrated Navigation Semi-physical Simulation verification platform.
2, angle measurement proposed by the present invention is tested the speed Integrated Navigation Semi-physical Simulation verification method, is appointed for deep space exploration program navigation
Business provides theoretical and technical support, while reducing technical costs, shortens the lead time, has very strong engineering value.
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 be angle measurement provided by the invention test the speed Integrated Navigation Semi-physical Simulation verify system overall structure figure.
Fig. 2 is that angle measurement provided by the invention is tested the speed the flow chart of Integrated Navigation Semi-physical Simulation verification method.
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.
It tests the speed Integrated Navigation Semi-physical Simulation verifying system the present invention provides a kind of angle measurement, including deep space dynamics environment
Analog subsystem；The deep space dynamics environment simulation subsystem includes dynamics host, real-time simulation platform；The power
It learns host and deep space dynamics environment model is loaded by real-time simulation platform by serial communication.
Angle measurement provided by the invention test the speed Integrated Navigation Semi-physical Simulation verifying system, further include angle measurement navigation subsystem；
The angle measurement navigation subsystem includes that navigation picture replicating machine, navigation picture simulator, angle measurement navigation sensor and angle measurement are led
Navigate computer；The navigation picture replicating machine is from the real-time simulation platform real-time reception data；By image simulation algorithm from
Deep space dynamics environment model obtains simulation real image data, and simulation real image data is sent to navigation picture simulation
Device；The navigation picture simulator is by the navigation picture optic path of formation to angle measurement navigation sensor；The angle measurement navigation is quick
Sensor obtains angle measurement navigation information by image processing algorithm, and angle measurement navigation information is sent to angle measurement navigational computer.
Angle measurement provided by the invention test the speed Integrated Navigation Semi-physical Simulation verifying system, further include the navigation subsystem that tests the speed；
The navigation subsystem that tests the speed, including navigation spectral titration machine, navigation spectral simulation device, the navigation sensor that tests the speed, navigation of testing the speed
Computer；The navigation spectral titration machine is dynamic from deep space by spectral titration algorithm from real-time simulation platform real-time reception data
Mechanical environment model obtains simulation real spectrum data, and simulation real spectrum data are sent to navigation spectral simulation device；Institute
It states navigation spectral simulation device and the navigation spectrum optical path of formation is transmitted to the navigation sensor that tests the speed；The navigation sensor that tests the speed is logical
It crosses spectral manipulation algorithm and obtains the navigation information that tests the speed, and the navigation information that will test the speed is sent to the navigational computer that tests the speed.
Angle measurement provided by the invention test the speed Integrated Navigation Semi-physical Simulation verifying system, further include algorithm of combined navigation subsystem；
The algorithm of combined navigation subsystem includes integrated navigation computer；The integrated navigation computer connects from angle measurement navigational computer respectively
Receive angle measurement navigation information, from testing the speed, navigational computer reception is tested the speed navigation information, obtain angle measurement and test the speed and integrated navigation information and ask
Solution.
Angle measurement provided by the invention test the speed Integrated Navigation Semi-physical Simulation verifying system, further include navigation performance assessment and drill
Show subsystem；Navigation performance assessment and demonstration subsystem include navigation performance assessment computer, real time demonstration platform and
Data storage；The integrated navigation computer according to angle measurement navigation information, test the speed navigation information and angle measurement is tested the speed integrated navigation
Information obtains navigation performance information by navigation performance algorithm；The real time demonstration platform demonstrates visual navigation performance letter
Breath and angle measurement are tested the speed integrated navigation information；The data storage navigation information stores navigation performance information, angle measurement is tested the speed, and combination is led
Boat information.
It tests the speed air navigation aid the present invention also provides a kind of verifying angle measurement, tests the speed integrated navigation including the use of above-mentioned angle measurement
Semi-physical simulation verifying system tests the speed to angle measurement the following steps that semi-physical simulation verified of navigating: system initial step: root
According to deep space dynamics environment model, sun/stars light in acquisition initialization angle measurement navigation moderate heat star image simulator, navigation of testing the speed
Spectrum analog device；Semi physical system real-time simulation step: according in initialization angle measurement navigation moderate heat star image simulator, navigation of testing the speed
Sun/stars spectral simulation device, test the speed navigate estimated result, angle measurement of acquisition are tested the speed tight integration Navigation estimated result；As a result
Visualization step: navigation assessment carries out Performance Evaluation with demo system, obtains assessment result；To navigation assessment and demo system
Estimated result, assessment result, deep space environment do real-time Visualization Demo.
The system initial step includes following sub-step: noise obtaining step: dynamic according to deep space in dynamics host
Mechanical environment model obtains initialization deep space dynamics environment；According to image noise model, spectral noise model, obtain initial
Change picture noise and spectral noise；The initialization deep space dynamics environment include start time, planet ephemeris, fixed star ephemeris with
And detector this initial pose；Simulator obtaining step: according in navigation picture simulator Mars iconic model, lead
Sun/stars spectral model in boat spectral simulation device obtains initialization angle measurement navigation moderate heat star image simulator, navigation of testing the speed
Middle sun/stars spectral simulation device.
The semi physical system real-time simulation step includes following sub-step: input obtaining step: according to integrated navigation meter
The installation matrix of detector pose parameter and sensor in calculation machine, the optical axis for obtaining angle measurement navigation camera is directed toward parameter, and makees
For the input of Mars image simulator；According to the initialization deep space dynamics environment of acquisition, sun/stars opposing detector is obtained
Speed, and the input as the navigation sensor that tests the speed；Signal acquisition step: according to initialisation image noise, initialization angle measurement
The input of navigation moderate heat star image simulator and Mars image simulator obtains the image that current time detector is observed
Signal；According in initialization spectral noise, navigation of testing the speed sun/stars spectral simulation device and the navigation sensor that tests the speed it is defeated
Enter, obtains the spectral signal that current time detector is observed.
The result visualization step includes following sub-step: estimated result obtaining step: the acquisition of angle measurement navigation sensor
The picture signal of acquisition obtains navigation target image centroid parameter, and conduct by Image Information Processing and feature extraction algorithm
The input parameter of angle measurement navigation algorithm, output angle measurement navigation estimated result；The navigation sensor that tests the speed acquires spectral signal, passes through light
Spectrum information processing and feature extraction algorithm obtain the relative velocity of sun/stars opposing detector, and calculate as navigation of testing the speed
The input value of method exports the estimated result that navigates that tests the speed；Estimated result exports step: according to angle measurement navigation estimated result, testing the speed and leads
Navigate estimated result, as the input of Integrated Navigation Algorithm, obtains angle measurement and tests the speed the estimation of tight integration Navigation, output angle measurement is tested the speed
Integrated navigation estimated result；Visualization Demo step: according to angle measurement navigation estimated result, estimated result and the angle measurement of navigating of testing the speed
Test the speed integrated navigation estimated result, navigation assessment and demo system to angle measurement navigation algorithm, test the speed navigation algorithm and feature mentions
Take this three of algorithm to carry out Performance Evaluation, and to angle measurement navigation estimated result, test the speed and navigate estimated result and angle measurement is tested the speed group
It closes navigation estimated result and deep space environment does real-time Visualization Demo.
The deep space dynamics environment, the initial bit including start time, planet ephemeris, fixed star ephemeris and detector
Appearance.
The progress of Integrated Navigation Semi-physical Simulation verifying system and method is tested the speed further to angle measurement provided by the invention below
Illustrate:
1. system initialization process, i.e. system initial step:
Step 1: according to deep space dynamics environment model, initializing deep space dynamics environment, including start time, planet star
It goes through, the parameters such as the initial pose of fixed star ephemeris and detector, while according to image noise model, spectral noise model initialization
Picture noise and spectral noise.
Step 2: according to Mars iconic model, sun/stars spectral model, initializing angle measurement navigation moderate heat star image simulation
Sun/stars spectral simulation device in device, navigation of testing the speed.
2. semi physical system real-time simulation process, i.e. semi physical system real-time simulation step:
Step 3: according to the installation matrix of detector pose parameter and sensor, the optical axis for resolving angle measurement navigation camera is directed toward
Parameter, the input as Mars image simulator；According to the deep space kinetic parameter that step 1 generates, it is opposite to resolve sun/stars
The speed of detector, the input as the navigation sensor that tests the speed.
Step 4: according to the Mars image simulator and step 3 after the picture noise of step 1 generation, step 2 initialization
The input of middle generation, Mars image simulator generate the picture signal that current time detector is observed；It is generated according to step 1
Spectral noise, the input that generates in the sun/stars spectral simulation device after step 2 initialization and step 3, sun/stars
Spectral simulation device generates the spectral signal that current time detector is observed.
3. result visualization process, i.e. result visualization step:
Step 5: the navigation picture optics of the Mars image simulator output exported in angle measurement navigation sensor acquisition step 4
Information exports navigation target image centroid parameter, angle measurement navigation algorithm is as defeated by Image Information Processing and extraction algorithm
Enter, obtains angle measurement navigation estimated result；The sun/stars spectral information exported in the navigation sensor acquisition step 4 that tests the speed passes through
Spectral information processing and extraction algorithm, export the relative velocity size of sun/stars opposing detector, the navigation algorithm that tests the speed is with this
For input, the estimated result that navigates that tests the speed is obtained.
Step 6: according to the measurement information of angle measurement navigation sensor in step 5 and navigation sensor output of testing the speed, as group
The input for closing navigation algorithm, obtains angle measurement and tests the speed the estimation of tight integration Navigation, and output angle measurement is tested the speed integrated navigation estimated result.
Step 7: being led according to the angle measurement navigation exported in step 5, the combination navigated and exported in estimated result and step 6 of testing the speed
Navigate estimated result, and navigation assessment and demo system carry out Performance Evaluation, and the estimated result that navigates to it, assessment knot to 3 kinds of algorithms
Fruit, deep space environment etc. do real-time Visualization Demo.
One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code
It, completely can be by the way that method and step be carried out programming in logic come so that the present invention provides and its other than each device, module, unit
System and its each device, module, unit with logic gate, switch, specific integrated circuit, programmable logic controller (PLC) and embedding
Enter the form of the controller that declines etc. to realize identical function.So system provided by the invention and its every device, module, list
Member is considered a kind of hardware component, and to include in it can also for realizing the device of various functions, module, unit
To be considered as the structure in hardware component；It can also will be considered as realizing the device of various functions, module, unit either real
The software module of existing method can be the structure in hardware component again.
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 (10)
1. a kind of angle measurement is tested the speed, Integrated Navigation Semi-physical Simulation verifies system, which is characterized in that including deep space dynamics environment mould
Quasi- subsystem；
The deep space dynamics environment simulation subsystem includes dynamics host, real-time simulation platform；
Deep space dynamics environment model is loaded onto real-time simulation platform by serial communication by the dynamics host.
2. angle measurement according to claim 1 is tested the speed, Integrated Navigation Semi-physical Simulation verifies system, which is characterized in that further includes
Angle measurement navigation subsystem；
The angle measurement navigation subsystem includes navigation picture replicating machine, navigation picture simulator, angle measurement navigation sensor and survey
Angle navigational computer；
The navigation picture replicating machine is from the real-time simulation platform real-time reception data；It is dynamic from deep space by image simulation algorithm
Mechanical environment model obtains simulation real image data, and simulation real image data is sent to navigation picture simulator；Institute
Navigation picture simulator is stated by the navigation picture optic path of formation to angle measurement navigation sensor；The angle measurement navigation sensor is logical
It crosses image processing algorithm and obtains angle measurement navigation information, and angle measurement navigation information is sent to angle measurement navigational computer.
3. angle measurement according to claim 2 is tested the speed, Integrated Navigation Semi-physical Simulation verifies system, which is characterized in that further includes
Test the speed navigation subsystem；
The navigation subsystem that tests the speed, including navigation spectral titration machine, navigation spectral simulation device, the navigation sensor that tests the speed, test the speed
Navigational computer；
The navigation spectral titration machine is from real-time simulation platform real-time reception data, by spectral titration algorithm from deep space dynamics
Environmental model obtains simulation real spectrum data, and simulation real spectrum data are sent to navigation spectral simulation device；It is described to lead
The navigation spectrum optical path of formation is transmitted to the navigation sensor that tests the speed by boat spectral simulation device；The navigation sensor that tests the speed passes through light
Spectrum Processing Algorithm obtains the navigation information that tests the speed, and the navigation information that will test the speed is sent to the navigational computer that tests the speed.
4. angle measurement according to claim 3 is tested the speed, Integrated Navigation Semi-physical Simulation verifies system, which is characterized in that further includes
Algorithm of combined navigation subsystem；
The algorithm of combined navigation subsystem includes integrated navigation computer；
The integrated navigation computer respectively from angle measurement navigational computer receive angle measurement navigation information, from testing the speed, navigational computer is connect
Receipts test the speed navigation information, obtain angle measurement and test the speed and integrated navigation information and solve.
5. angle measurement according to claim 4 is tested the speed, Integrated Navigation Semi-physical Simulation verifies system, which is characterized in that further includes
Navigation performance assessment and demonstration subsystem；
The navigation performance assessment and demonstration subsystem include that navigation performance assessment computer, real time demonstration platform and data are deposited
Storage；
The integrated navigation computer according to angle measurement navigation information, test the speed navigation information and angle measurement is tested the speed integrated navigation information,
By navigation performance algorithm, navigation performance information is obtained；The real time demonstration platform demonstrate visual navigation performance information and
Angle measurement is tested the speed integrated navigation information；The data storage navigation information stores navigation performance information, angle measurement is tested the speed, and integrated navigation is believed
Breath.
The air navigation aid 6. a kind of verifying angle measurement is tested the speed tests the speed combination including the use of angle measurement described in any one of claim 1 to 5
Navigation semi-physical simulation verifying system tests the speed to angle measurement the following steps that semi-physical simulation verified of navigating:
System initial step: it according to deep space dynamics environment model, obtains initialization angle measurement navigation moderate heat star image simulator, survey
Sun/stars spectral simulation device in speed navigation；
Semi physical system real-time simulation step: according to initialization angle measurement navigation moderate heat star image simulator, test the speed navigation in the sun/
Stellar spectrum simulator, test the speed navigate estimated result, angle measurement of acquisition are tested the speed tight integration Navigation estimated result；
Result visualization step: navigation assessment carries out Performance Evaluation with demo system, obtains assessment result；Navigation is assessed and drilled
Show that estimated result, assessment result, the deep space environment of system do real-time Visualization Demo.
The air navigation aid 7. verifying angle measurement according to claim 6 is tested the speed, which is characterized in that the system initial step includes
Following sub-step:
Noise obtaining step: according to the deep space dynamics environment model in dynamics host, initialization deep space dynamics is obtained
Environment；According to image noise model, spectral noise model, initialisation image noise and spectral noise are obtained；
The initialization deep space dynamics environment include start time, planet ephemeris, fixed star ephemeris and detector this
Initial pose；
Simulator obtaining step: according in navigation picture simulator Mars iconic model, navigation spectral simulation device in the sun/
Stellar spectrum model, obtain initialization angle measurement navigation moderate heat star image simulator, test the speed navigation in sun/stars spectral simulation
Device.
The air navigation aid 8. verifying angle measurement according to claim 7 is tested the speed, which is characterized in that the semi physical system is imitated in real time
True step includes following sub-step:
It inputs obtaining step: according to the installation matrix of detector pose parameter and sensor in integrated navigation computer, obtaining
The optical axis of angle measurement navigation camera is directed toward parameter, and the input as Mars image simulator；It is dynamic according to the initialization deep space of acquisition
Mechanical environment obtains the speed of sun/stars opposing detector, and the input as the navigation sensor that tests the speed；
Signal acquisition step: according to initialisation image noise, initialization angle measurement navigation moderate heat star image simulator and Mars figure
As the input of simulator, the picture signal that current time detector is observed is obtained；According to initialization spectral noise, tests the speed and lead
The input of sun/stars spectral simulation device and the navigation sensor that tests the speed in boat obtains what current time detector was observed
Spectral signal.
The air navigation aid 9. verifying angle measurement according to claim 7 is tested the speed, which is characterized in that the result visualization step packet
Include following sub-step:
Estimated result obtaining step: the picture signal that the acquisition of angle measurement navigation sensor obtains passes through Image Information Processing and feature
Extraction algorithm, obtains navigation target image centroid parameter, and the input parameter as angle measurement navigation algorithm, and output angle measurement navigation is estimated
Count result；The navigation sensor that tests the speed acquires spectral signal, by spectral information processing and feature extraction algorithm, obtains the sun/perseverance
The relative velocity of star opposing detector, and the input value as the navigation algorithm that tests the speed export the estimated result that navigates that tests the speed；
Estimated result exports step: according to angle measurement navigation estimated result, test the speed the estimated result that navigates, as Integrated Navigation Algorithm
Input, obtains angle measurement and tests the speed the estimation of tight integration Navigation, and output angle measurement is tested the speed integrated navigation estimated result；
Visualization Demo step: according to angle measurement navigate estimated result, test the speed and navigate estimated result and angle measurement is tested the speed integrated navigation
Estimated result, navigation assessment and demo system to angle measurement navigation algorithm, test the speed navigation algorithm and feature extraction algorithm this three
Carry out Performance Evaluation, and to angle measurement navigation estimated result, test the speed and navigate estimated result and angle measurement is tested the speed integrated navigation estimation knot
Fruit and deep space environment do real-time Visualization Demo.
The air navigation aid 10. verifying angle measurement according to claim 7 is tested the speed, which is characterized in that the deep space dynamics environment,
Initial pose including start time, planet ephemeris, fixed star ephemeris and detector.
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| CN113473001A (en) * | 2021-04-07 | 2021-10-01 | 北京控制工程研究所 | Hardware-in-loop system verification system and method based on digital adjoint |
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