CN110686684B - Optical collaborative orbit determination method for small celestial body surrounding detector - Google Patents
Optical collaborative orbit determination method for small celestial body surrounding detector Download PDFInfo
- Publication number
- CN110686684B CN110686684B CN201911152388.6A CN201911152388A CN110686684B CN 110686684 B CN110686684 B CN 110686684B CN 201911152388 A CN201911152388 A CN 201911152388A CN 110686684 B CN110686684 B CN 110686684B
- Authority
- CN
- China
- Prior art keywords
- detector
- optical
- detectors
- celestial body
- orbit determination
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
Abstract
The invention discloses an optical collaborative orbit determination method for a small celestial body surrounding detector, and belongs to the technical field of deep space detection. The implementation method of the invention comprises the following steps: taking the positions and the velocity vectors of the two detectors as state variables to be estimated, and establishing an optical cooperative orbit determination state model under the condition that the small celestial body is fixedly connected with a coordinate system; a camera of the observation detector images the observed detector, pixel information of the observed detector in a phase plane is obtained, and an observation model of optical cooperative orbit determination is established by combining the known posture of the observation detector; and performing collaborative estimation on the positions and the velocity vectors of the two detectors by adopting a nonlinear navigation filtering algorithm to realize the optical collaborative orbit determination of the small celestial body surrounding detectors. The invention includes but not limited to two detectors, when the number of the detectors is multiple, according to the actual small celestial body surrounding detector optical cooperation orbit determination requirement, the detector is endowed with relevant detection attributes, and the small celestial body surrounding detector optical cooperation orbit determination is realized through the optical measurement between the observation detector and the observed detector.
Description
Technical Field
The invention relates to an optical collaborative orbit determination method for a small celestial body surrounding detector, and belongs to the technical field of deep space detection.
Background
The orbit determination of the small celestial body surrounding detector has important significance for the design of a motion orbit near the small celestial body, scientific observation of the small celestial body and safe landing sampling of the small celestial body, and is one of key technologies in a small celestial body detection task. Optical observation is a common orbit determination technique for small celestial bodies around detectors. In the prior task, a surrounding detector obtains surface topographic feature points by optically imaging the surface of a small celestial body, and then the feature points are matched with a priori topographic database to realize optical orbit determination. However, the method requires that a terrain database of the small celestial body is obtained in advance, so that the task technical difficulty is greatly increased, and the terrain database has errors, so that the optical orbit determination precision is limited. The invention aims to provide an optical cooperative orbit determination method for a small celestial body surrounding detector, which realizes cooperative orbit determination of the detector only by using optical measurement among detectors and provides technical reference for future small celestial body detection engineering.
Disclosure of Invention
The invention discloses an optical collaborative orbit determination method for a small celestial body surrounding detector, which aims to solve the technical problems that: in the process that the two detectors fly around the small celestial body, the observation detector carrying the optical camera performs optical imaging on the other observed detector, and the positions and the speeds of the two detectors under the fixed coordinate system of the small celestial body are estimated simultaneously by utilizing optical measurement information between the two detectors, so that the optical collaborative orbit determination of the small celestial body around the detectors is realized.
The purpose of the invention is realized by the following technical scheme.
The invention discloses an optical collaborative orbit determination method for a small celestial body surrounding detector. A camera of the observation detector images the observed detector, pixel information of the observed detector in a phase plane is obtained, and an observation model of optical cooperative orbit determination is established by combining the known posture of the observation detector. And combining the step optical collaborative orbit determination state model and the observation model of the optical collaborative orbit determination, and performing collaborative estimation on the positions and the velocity vectors of the two detectors by adopting a nonlinear navigation filtering algorithm to realize the optical collaborative orbit determination of the small celestial body surrounding detectors.
The invention discloses an optical collaborative orbit determination method for a small celestial body surrounding detector, which comprises the following steps:
step 1: and taking the positions and the velocity vectors of the two detectors as state variables to be estimated, and establishing an optical cooperative orbit determination state model under the condition that the small celestial body is fixedly connected with a coordinate system.
The positions and speeds of the two detectors are shown in formula (1).
X＝[r1,v1,r2,v2]T (1)
And (3) establishing an optical cooperative orbit determination state model under the fixed connection coordinate system of the small celestial body, as shown in the formula (2).
In the formula, r1，v1Respectively the position and velocity vector, r, of the observation probe2，v2The position and the velocity vector of the observed detector are respectively shown, omega is a small celestial body spinning angular velocity vector, and V is a gravitational field potential function shown in formula (3).
Where mu is the gravitational constant of the small celestial body, r is the distance from the detector to the center of the small celestial body, and PnmFor Legendre polynomials and their functions, n and m are the degree and order of the polynomial, respectively, r0Is the reference radius of the celestial body, phi and lambda being the latitude and longitude of the celestial body, CnmAnd SnmAre normalized coefficients.
Step 2: a camera of the observation detector images the observed detector, pixel information of the observed detector in a phase plane is obtained, and an observation model of optical cooperative orbit determination is established by combining the known posture of the observation detector.
The pixel coordinates of the observed detector in the phase plane of the observed detector are shown as formula (4).
In the formula, p and l are horizontal and vertical coordinates of the observed detector in the phase plane of the observed detector, f is the focal length of the camera, and xc，yc，zcRespectively, the three-dimensional position components of the observed probe in the observation probe camera coordinate system. In the case where the observed probe attitude is known, we get:
in the formula, x1，y1，z1For observing the three-axis position component of the detector, x2，y2，z2For the three-axis position component of the observed probe,
a rotation matrix for fixedly connecting a coordinate system to a coordinate system of an observation detector body is determined by the posture of the observation detector,
the rotation matrix from the body coordinate system of the detector to the coordinate system of the camera is determined by the installation orientation of the camera.
Order to
And (3) substituting the formula (5) into the formula (4) to obtain an observation model of the optical cooperative orbit determination, which is shown as the formula (6).
In the formula, TijAnd (i is 1,2,3, j is 1,2,3) is an element of the ith row and the jth column of the matrix T.
And step 3: and (3) combining the optical collaborative orbit determination state model in the step (1) and the observation model of the optical collaborative orbit determination in the step (2), and performing collaborative estimation on the positions and the velocity vectors of the two detectors by adopting a nonlinear navigation filtering algorithm, so that the optical collaborative orbit determination of the small celestial body surrounding detectors is realized.
And (3) combining the optical collaborative orbit determination state model formula (2) in the step (1) and the observation model formula (6) of the optical collaborative orbit determination in the step (2), and performing collaborative estimation on the positions and the velocity vectors of the two detectors by adopting a nonlinear navigation filtering algorithm, so that the optical collaborative orbit determination of the small celestial body surrounding detectors is realized.
Preferably, the nonlinear navigation filtering algorithm in step 3 includes an extended kalman filtering algorithm and an unscented kalman filtering algorithm.
The invention discloses an optical cooperative orbit determination method for a small celestial body surrounding detector.
In addition, the optical cooperative orbit determination method for the small celestial body surrounding detector disclosed by the invention comprises but is not limited to two detectors, when the number of the detectors is multiple, the detectors are endowed with related detection attributes according to the optical cooperative orbit determination requirement of the actual small celestial body surrounding detector, namely, a plurality of the detectors are designated as observation detectors, the other detectors are observed detectors, and the optical cooperative orbit determination of the small celestial body surrounding detector is realized through optical measurement between the observation detectors and the observed detectors.
Has the advantages that:
1. the invention discloses an optical collaborative orbit determination method for a small celestial body surrounding detector.
2. According to the optical collaborative orbit determination method for the small celestial body surrounding detector, the terrain database information of the small celestial body is not needed, the on-satellite image matching process is omitted, the technical difficulty is simplified, and the optical orbit determination precision is improved.
3. The invention discloses an optical cooperative orbit determination method for small celestial body surrounding detectors, which comprises but is not limited to two detectors, when the number of the detectors is multiple, the detectors are endowed with related detection attributes according to the optical cooperative orbit determination requirement of the actual small celestial body surrounding detectors, namely, a plurality of the detectors are designated as observation detectors, the other detectors are observed detectors, and the optical cooperative orbit determination of the small celestial body surrounding detectors is realized through optical measurement between the observation detectors and the observed detectors.
Drawings
FIG. 1 is a flow chart of a small celestial body surrounding detector optical cooperative orbit determination method;
fig. 2 shows the position and velocity error changes of two detectors in the embodiment, (a) is the three-axis position error of the observation detector, (b) is the three-axis velocity error of the observation detector, (c) is the three-axis position error of the observed detector, and (d) is the three-axis velocity error of the observed detector.
Detailed Description
For better illustrating the objects and advantages of the present invention, the following description will be made with reference to the accompanying drawings and examples.
As shown in fig. 1, the optical cooperative orbit determination method for the small celestial body surrounding detector of the present embodiment is implemented as follows:
step 1: and taking the positions and the velocity vectors of the two detectors as state variables to be estimated, and establishing an optical cooperative orbit determination state model under the condition that the small celestial body is fixedly connected with a coordinate system.
The positions and speeds of the two detectors are shown in formula (1).
X＝[r1,v1,r2,v2]T (1)
And (3) establishing an optical cooperative orbit determination state model under the fixed connection coordinate system of the small celestial body, as shown in the formula (2).
In the formula, r1，v1Respectively the position and velocity vector, r, of the observation probe2，v2The position and the velocity vector of the observed detector are respectively shown, omega is a small celestial body spinning angular velocity vector, and V is a gravitational field potential function shown in formula (3).
In the formulaMu is the gravitational constant of the small celestial body, r is the distance from the detector to the center of the small celestial body, PnmFor Legendre polynomials and their functions, n and m are the degree and order of the polynomial, respectively, r0Is the reference radius of the celestial body, phi and lambda being the latitude and longitude of the celestial body, CnmAnd SnmAre normalized coefficients.
Step 2: a camera of the observation detector images the observed detector, pixel information of the observed detector in a phase plane is obtained, and an observation model of optical cooperative orbit determination is established by combining the known posture of the observation detector.
The pixel coordinates of the observed detector in the phase plane of the observed detector are shown as formula (4).
In the formula, p and l are horizontal and vertical coordinates of the observed detector in the phase plane of the observed detector, f is the focal length of the camera, and xc，yc，zcRespectively, the three-dimensional position components of the observed probe in the observation probe camera coordinate system. In the case where the observed probe attitude is known, we get:
in the formula, x1，y1，z1For observing the three-axis position component of the detector, x2，y2，z2For the three-axis position component of the observed probe,
a rotation matrix for fixedly connecting a coordinate system to a coordinate system of an observation detector body is determined by the posture of the observation detector,
for observing the rotation matrix from the body coordinate system of the probe to the camera coordinate system, from the cameraAnd (4) determining the installation direction.
Order to
And (3) substituting the formula (5) into the formula (4) to obtain an observation model of the optical cooperative orbit determination, which is shown as the formula (6).
In the formula, TijAnd (i is 1,2,3, j is 1,2,3) is an element of the ith row and the jth column of the matrix T.
And step 3: and (3) combining the optical collaborative orbit determination state model in the step (1) and the observation model of the optical collaborative orbit determination in the step (2), and performing collaborative estimation on the positions and the velocity vectors of the two detectors by adopting a nonlinear navigation filtering algorithm, so that the optical collaborative orbit determination of the small celestial body surrounding detectors is realized.
And (3) combining the optical collaborative orbit determination state model formula (2) in the step (1) and the observation model formula (6) of the optical collaborative orbit determination in the step (2), and performing collaborative estimation on the positions and the velocity vectors of the two detectors by adopting a nonlinear navigation filtering algorithm, so that the optical collaborative orbit determination of the small celestial body surrounding detectors is realized.
The nonlinear navigation filtering algorithm in the step 3 comprises an extended Kalman filtering algorithm and an unscented Kalman filtering algorithm.
The present example was subjected to optical co-orbital simulation analysis for two detectors orbiting the asteroid 2016Ho3 with simulation parameter settings as shown in table 1.
Table 1 simulation parameter settings
| Parameter name | Reference value | Standard deviation of |
| Observation Detector initial position (m) | (420,-730,0) | (10,10,10) |
| Observation Detector initial velocity (m/s) | (-0.029,-0.174,-0.079) | (0.001,0.001,0.001) |
| Observed Detector initial position (m) | (250,-110,-840) | (10,10,10) |
| Initial velocity (m/s) of observed detector | (0.020,-0.130,0.025) | (0.001,0.001,0.001) |
The position and speed accuracy of the two detectors relative to the small celestial body obtained by the double-detector approach small celestial body collaborative navigation method is shown in table 2.
TABLE 2 position and speed error of small celestial body surrounding detector optical cooperation orbit determination method
As can be seen from fig. 2 and table 2, the position and speed of the two detectors under the small celestial body fixed coordinate system can be accurately estimated by adopting the small celestial body surrounding detector optical cooperative orbit determination method, the three-axis position precision is better than 0.5, the three-axis speed precision is better than 0.2mm/s, and the simulation result shows that the small celestial body surrounding detector optical cooperative orbit determination method can accurately and quickly obtain the position and speed information of the detectors under the small celestial body fixed coordinate system, so that high-precision optical cooperative orbit determination is realized.
The above detailed description is intended to illustrate the objects, aspects and advantages of the present invention, and it should be understood that the above detailed description is only exemplary of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (5)
1. An optical collaborative orbit determination method for a small celestial body surrounding detector is characterized by comprising the following steps: comprises the following steps of (a) carrying out,
step 1: taking the positions and the velocity vectors of the two detectors as state variables to be estimated, and establishing an optical cooperative orbit determination state model under the condition that the small celestial body is fixedly connected with a coordinate system;
step 2: a camera of the observation detector images the observed detector, pixel information of the observed detector in a phase plane is obtained, and an observation model of optical cooperative orbit determination is established by combining the known posture of the observation detector;
and step 3: combining the optical collaborative orbit determination state model in the step 1 and the observation model of the optical collaborative orbit determination in the step 2, and adopting a nonlinear navigation filtering algorithm to carry out collaborative estimation on the positions and the velocity vectors of the two detectors, namely realizing the optical collaborative orbit determination of the small celestial body surrounding detectors;
the observation detector and the observed detector are converted according to the requirement of optical cooperative orbit determination of the actual small celestial body surrounding detector, namely, one of the two detectors is selected as the observation detector, and the other detector is selected as the observed detector;
when the detectors are multiple, the detectors are endowed with related detection attributes according to the requirement of optical cooperative orbit determination of the actual small celestial body surrounding detectors, namely, a plurality of the detectors are designated as observation detectors, the rest detectors are observed detectors, and the optical cooperative orbit determination of the small celestial body surrounding detectors is realized through optical measurement between the observation detectors and the observed detectors.
2. The optical cooperative tracking method for the small celestial body surrounding detector as claimed in claim 1, wherein: the step 1 is realized by the method that,
the positions and the speeds of the two detectors are shown as the formula (1);
X＝[r1,v1,r2,v2]T (1)
establishing an optical cooperative orbit determination state model under the fixed connection coordinate system of the small celestial body, as shown in a formula (2);
in the formula, r1，v1Respectively the position and velocity vector, r, of the observation probe2，v2The position and the velocity vector of the observed detector are respectively, omega is a small celestial body spinning angular velocity vector, and V is a gravitational field potential function as shown in a formula (3);
where mu is the gravitational constant of the small celestial body, r is the distance from the detector to the center of the small celestial body, and PnmFor Legendre polynomials and their functions, n and m are the degree and order of the polynomial, respectively, r0Is the reference radius of the celestial body, phi and lambda being the latitude and longitude of the celestial body, CnmAnd SnmAre normalized coefficients.
3. The optical cooperative tracking method for the small celestial body surrounding detector as claimed in claim 2, wherein: the step 2 is realized by the method that,
the pixel coordinates of the observed detector in the phase plane of the observed detector are shown as a formula (4);
in the formula, p and l are horizontal and vertical coordinates of the observed detector in the phase plane of the observed detector, f is the focal length of the camera, and xc，yc，zcRespectively three-dimensional position components of the observed detector in an observation detector camera coordinate system; in the case where the observed probe attitude is known, we get:
in the formula, x1，y1，z1For observing the three-axis position component of the detector, x2，y2，z2For the three-axis position component of the observed probe,
a rotation matrix for fixedly connecting a coordinate system to a coordinate system of an observation detector body is determined by the posture of the observation detector,
determining a rotation matrix from a detector body coordinate system to a camera coordinate system according to the installation direction of the camera;
order to
Substituting the formula (5) into the formula (4) to obtain an observation model of the optical cooperative orbit determination, which is shown as the formula (6);
in the formula, TijAnd (i is 1,2,3, j is 1,2,3) is an element of the ith row and the jth column of the matrix T.
4. The optical cooperative tracking method for the small celestial body surrounding detector as claimed in claim 3, wherein: the step 3 is realized by the method that,
and (3) combining the optical collaborative orbit determination state model formula (2) in the step (1) and the observation model formula (6) of the optical collaborative orbit determination in the step (2), and performing collaborative estimation on the positions and the velocity vectors of the two detectors by adopting a nonlinear navigation filtering algorithm, so that the optical collaborative orbit determination of the small celestial body surrounding detectors is realized.
5. The optical cooperative tracking method for the small celestial body surrounding detector as claimed in claim 4, wherein: the nonlinear navigation filtering algorithm in the step 3 comprises an extended Kalman filtering algorithm and an unscented Kalman filtering algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911152388.6A CN110686684B (en) | 2019-11-22 | 2019-11-22 | Optical collaborative orbit determination method for small celestial body surrounding detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911152388.6A CN110686684B (en) | 2019-11-22 | 2019-11-22 | Optical collaborative orbit determination method for small celestial body surrounding detector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110686684A CN110686684A (en) | 2020-01-14 |
| CN110686684B true CN110686684B (en) | 2021-09-24 |
Family
ID=69117304
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911152388.6A Active CN110686684B (en) | 2019-11-22 | 2019-11-22 | Optical collaborative orbit determination method for small celestial body surrounding detector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110686684B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111735459B (en) * | 2020-07-15 | 2022-03-22 | 北京理工大学 | Collaborative navigation method between small celestial body detectors |
| CN112257343B (en) * | 2020-10-22 | 2023-03-17 | 上海卫星工程研究所 | High-precision ground track repetitive track optimization method and system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008054482A2 (en) * | 2006-03-24 | 2008-05-08 | Dula Arthur M | Solar system positioning system |
| CN101762273A (en) * | 2010-02-01 | 2010-06-30 | 北京理工大学 | Autonomous optical navigation method for soft landing for deep space probe |
| CN103234538A (en) * | 2013-04-07 | 2013-08-07 | 北京理工大学 | Autonomous navigation method for planet in final approaching section |
| US8954207B1 (en) * | 2013-09-06 | 2015-02-10 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Method of enhancing on-board state estimation using communication signals |
| CN106679675A (en) * | 2016-12-29 | 2017-05-17 | 北京理工大学 | Mars final approaching section autonomous navigation method based on relative measurement information |
| CN107655485A (en) * | 2017-09-25 | 2018-02-02 | 北京理工大学 | A kind of cruise section independent navigation position deviation modification method |
| CN109269512A (en) * | 2018-12-06 | 2019-01-25 | 北京理工大学 | The Relative Navigation that planetary landing image is merged with ranging |
| CN109341725A (en) * | 2018-12-06 | 2019-02-15 | 北京理工大学 | Planet Approach phase navigation performance fast evaluation method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102175241B (en) * | 2011-01-13 | 2013-03-20 | 北京航空航天大学 | Autonomous astronomical navigation method of Mars probe in cruise section |
| CN107607971B (en) * | 2017-09-08 | 2021-01-12 | 哈尔滨工程大学 | Time frequency transmission method based on GNSS common-view time comparison algorithm and receiver |
-
2019
- 2019-11-22 CN CN201911152388.6A patent/CN110686684B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008054482A2 (en) * | 2006-03-24 | 2008-05-08 | Dula Arthur M | Solar system positioning system |
| CN101762273A (en) * | 2010-02-01 | 2010-06-30 | 北京理工大学 | Autonomous optical navigation method for soft landing for deep space probe |
| CN103234538A (en) * | 2013-04-07 | 2013-08-07 | 北京理工大学 | Autonomous navigation method for planet in final approaching section |
| US8954207B1 (en) * | 2013-09-06 | 2015-02-10 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Method of enhancing on-board state estimation using communication signals |
| CN106679675A (en) * | 2016-12-29 | 2017-05-17 | 北京理工大学 | Mars final approaching section autonomous navigation method based on relative measurement information |
| CN107655485A (en) * | 2017-09-25 | 2018-02-02 | 北京理工大学 | A kind of cruise section independent navigation position deviation modification method |
| CN109269512A (en) * | 2018-12-06 | 2019-01-25 | 北京理工大学 | The Relative Navigation that planetary landing image is merged with ranging |
| CN109341725A (en) * | 2018-12-06 | 2019-02-15 | 北京理工大学 | Planet Approach phase navigation performance fast evaluation method |
Non-Patent Citations (3)
| Title |
|---|
| Two-Way Ranging and Doppler for Multiple orbiting Spacecraft at Mars;Kar-Ming Cheung等;《2018 IEEE Aerospace Conference》;20180628;第1-17页 * |
| 基于X射线脉冲星的航天器定轨仿真研究;张莉娜;《中国优秀硕士学位论文全文数据库》;20180115(第12期);第C031-135页 * |
| 无线电测量辅助的深空接近段自主光学导航方法;荆燕;《中国优秀硕士学位论文全文数据库》;20180615(第06期);摘要、第11页2.1节第3点、第18页第2.3节第2段、第34页第4章第1段、第35页4.1.1节最后一段 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110686684A (en) | 2020-01-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111947652B (en) | Inertia/vision/astronomy/laser ranging combined navigation method suitable for lunar lander | |
| CN103697889B (en) | A kind of unmanned plane independent navigation and localization method based on multi-model Distributed filtering | |
| CN100349018C (en) | Internal and external element correcting method of star sensor | |
| CN109269512B (en) | Relative navigation method for fusing planet landing image and distance measurement | |
| CN107728182B (en) | Flexible multi-baseline measurement method and device based on camera assistance | |
| CN107655485B (en) | Cruise section autonomous navigation position deviation correction method | |
| CN107144278B (en) | Lander visual navigation method based on multi-source characteristics | |
| CN105953795B (en) | A kind of navigation device and method for the tour of spacecraft surface | |
| CN109087355B (en) | Monocular camera pose measuring device and method based on iterative updating | |
| CN112562077B (en) | Pedestrian indoor positioning method integrating PDR and priori map | |
| WO2022160391A1 (en) | Magnetometer information assisted mems gyroscope calibration method and calibration system | |
| CN110686684B (en) | Optical collaborative orbit determination method for small celestial body surrounding detector | |
| CN113029132B (en) | Spacecraft navigation method combining ground image and astrolabe measurement | |
| CN102636081A (en) | Transfer alignment method and device based on visual movement modeling | |
| CN106352897B (en) | It is a kind of based on the silicon MEMS gyro estimation error of monocular vision sensor and bearing calibration | |
| CN113551668A (en) | Spacecraft inertia/fixed star light vector/star light refraction combined navigation method | |
| CN109341725A (en) | Planet Approach phase navigation performance fast evaluation method | |
| CN113022898B (en) | State estimation method for flexible attachment system in weak gravity environment | |
| CN100348947C (en) | Star sensor online aligning method based on weng model | |
| CN112197765B (en) | Method for realizing fine navigation of underwater robot | |
| CN111121818B (en) | Calibration method for camera and two-dimensional code in unmanned vehicle | |
| CN115630254A (en) | On-orbit calibration method for parameter micro-variation in high-precision star sensor optical system | |
| CN110733671B (en) | Dynamic correction method for small celestial body spin angular velocity | |
| CN113049006B (en) | Starlight vector Mongolian difference correction method based on model parameter estimation | |
| CN117128953A (en) | Dead reckoning method, equipment and storage medium for pipeline wall-climbing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |