CN111238484B - Spherical traceless transformation-based circular fire track autonomous navigation method - Google Patents

Spherical traceless transformation-based circular fire track autonomous navigation method Download PDF

Info

Publication number
CN111238484B
CN111238484B CN202010128937.2A CN202010128937A CN111238484B CN 111238484 B CN111238484 B CN 111238484B CN 202010128937 A CN202010128937 A CN 202010128937A CN 111238484 B CN111238484 B CN 111238484B
Authority
CN
China
Prior art keywords
state quantity
mars
calculating
steps
spherical
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
Application number
CN202010128937.2A
Other languages
Chinese (zh)
Other versions
CN111238484A (en
Inventor
朱庆华
肖东东
鲁启东
印兴峰
唐文国
马瑞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Aerospace Control Technology Institute
Original Assignee
Shanghai Aerospace Control Technology Institute
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shanghai Aerospace Control Technology Institute filed Critical Shanghai Aerospace Control Technology Institute
Priority to CN202010128937.2A priority Critical patent/CN111238484B/en
Publication of CN111238484A publication Critical patent/CN111238484A/en
Application granted granted Critical
Publication of CN111238484B publication Critical patent/CN111238484B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • G01C21/20—Instruments for performing navigational calculations
    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention relates to a circular fire orbit autonomous navigation method based on spherical unscented transformation, which belongs to the field of autonomous orbit determination; step one, according to the state quantity of the Mars detector in the current period
Figure DDA0002395266950000011
Establishing a sigma point set; step two, respectively using the state quantity of the current period as an initial value, and recurrently estimating the state quantity of the next period of each characteristic point; step three, calculating the approximate unscented mean value and the approximate unscented state quantity covariance of the current period; step four, calculating the measurement predicted value of the ith characteristic point of the next period
Figure DDA0002395266950000012
Calculating the predicted mean value of the next period measurement
Figure DDA0002395266950000013
Step five, calculating the covariance P of the measurement quantity of the Mars detector in the current periodyyAnd measure-state quantity covariance PXy(ii) a Step six, calculating the gain value K of the next periodk+1(ii) a And according to the gain value K of the next periodk+1Calculating the state quantity of Mars detector in the next period
Figure DDA0002395266950000014
The invention realizes that the detector can utilize the full force field model of the Mars detector in the autonomous navigation process, and improves the accuracy of autonomous determination of the orbit.

Description

Spherical traceless transformation-based circular fire track autonomous navigation method
Technical Field
The invention belongs to the field of autonomous orbit determination, and relates to a circular fire orbit autonomous navigation method based on spherical unscented transformation.
Background
The Mars detector carries out global remote sensing detection on the Mars in the long-term circular fire flight process, and navigation is the basis for carrying out attitude reference calculation on the whole device.
Earth satellite orbit calculation generally provides an orbit initial value according to a ground orbit determination, and performs orbit recursion on line or solves high-precision orbit data by using satellite-borne GNSS equipment. However, for a mars detector, in the process of flying around a mars, the mars detector has the characteristics of long ground distance and no availability of a GNSS, and the orbit calculation method for the earth satellite is used for reference, so that the problems of narrow measurable window, no availability of the GNSS, large information delay and poor autonomy exist, and in order to improve the reliability of the orbit calculation of the mars surrounding device and the accuracy of the orbit calculation, the dependence on the ground needs to be reduced, and the autonomous orbit calculation is realized.
In addition, the linear navigation algorithm widely applied at present abandons high-order terms, and the precision is poor. The requirement of the spark detector for ring fire detection cannot be met.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides the circular fire orbit autonomous navigation method based on spherical unscented transformation, realizes that the detector can utilize a full force field model of a Mars detector in the autonomous navigation process, and improves the accuracy of autonomous determination of the orbit.
The technical scheme of the invention is as follows:
a circular fire orbit autonomous navigation method based on spherical unscented transformation comprises the following steps:
step one, measuring the state quantity of the Mars detector in the current period
Figure BDA0002395266930000011
Quantity of state
Figure BDA0002395266930000012
The method comprises the steps of establishing a sigma point set according to the three-dimensional position of a Mars detector, wherein the sigma point set comprises the three-dimensional position and the three-dimensional speed; the sigma point set comprises 13 characteristic points, and each characteristic point sp is calculatediThe state quantity of the current period; i is a characteristic point number, i is 1, 2, … …, 13;
step two, respectively using the state quantity of the current period as an initial value for each characteristic point according to a Mars probe orbit dynamics model, and recurringly estimating the state quantity of the next period of each characteristic point
Figure BDA0002395266930000021
Step three, according to the state quantity of the next period of each characteristic point
Figure BDA0002395266930000022
And the position and the speed of the Mars detector in the previous period, and calculating the approximate non-tracking mean value of the current period
Figure BDA0002395266930000023
Sum approximation unscented state quantity covariance
Figure BDA0002395266930000024
Step four, calculating the measurement predicted value of the ith characteristic point of the next period
Figure BDA0002395266930000025
Calculating the predicted mean value of the next period measurement
Figure BDA0002395266930000026
Step five, calculating the covariance P of the measurement quantity of the Mars detector in the current period according to the constant value matrix R of the measurement noiseyyAnd measure-state quantity covariance PXy；
Step six, calculating the gain value K of the next periodk+1(ii) a And according to the gain value K of the next periodk+1Calculating the state quantity of Mars detector in the next period
Figure BDA0002395266930000027
In the above circular fire orbit autonomous navigation method based on spherical unscented transformation, in the first step, the sigma point set establishing method includes:
establishing a sphere by taking the current Mars detector position as a center, and randomly selecting 13 characteristic points on the surface of the sphere, wherein the 13 characteristic points are a sigma point set; each feature point represents a state quantity at a corresponding position on the surface of the sphere.
In the above circular fire orbit autonomous navigation method based on spherical unscented transformation, the method for calculating the state quantities of the feature points is as follows:
order to
Figure BDA0002395266930000028
Then the process of the first step is carried out,
Figure BDA0002395266930000029
in the formula (I), the compound is shown in the specification,
Figure BDA00023952669300000210
representing the state quantity of the Mars detector in the current period;
spirepresenting the ith sigma point;
Pc ia 6 x 1 constant matrix is represented,
Figure BDA00023952669300000211
in the above circular fire orbit autonomous navigation method based on spherical unscented transformation, in the second step, the environmental parameters of the orbit dynamics model of the Mars probe are set as follows:
the spark is a central gravitational body; the attraction of the mars is a 4-order aspheric attraction; the dynamic model comprises a solar attraction and solar pressure shooting model.
In the above circular fire orbit autonomous navigation method based on spherical unscented transformation, in the third step, the approximate unscented mean value of the current period
Figure BDA0002395266930000031
The calculation method comprises the following steps:
Figure BDA0002395266930000032
in the formula, ω0＝0.25；
ω1＝0.0625；
Approximate unscented state quantity covariance
Figure BDA0002395266930000033
The calculation method comprises the following steps:
Figure BDA0002395266930000034
in the formula, the matrix is 6 × 6, the diagonal value is 1000, and the rest is 0.
In the above circular fire orbit autonomous navigation method based on spherical unscented transformation, in the fourth step, the measured and predicted value of the ith characteristic point of the next cycle
Figure BDA0002395266930000035
The calculation method comprises the following steps:
Figure BDA0002395266930000036
predicted mean of next cycle measurement
Figure BDA0002395266930000037
The calculation method comprises the following steps:
Figure BDA0002395266930000038
in the above circular fire orbit autonomous navigation method based on spherical unscented transformation, in the fifth step, the measurement quantity is measuredCovariance PyyThe calculation method comprises the following steps:
Figure BDA0002395266930000039
wherein i is 2, 3, … …, 13;
measurement-state quantity covariance PXyThe calculation method comprises the following steps:
Figure BDA00023952669300000310
in the above circular fire orbit autonomous navigation method based on spherical unscented transformation, the measurement noise constant matrix R is an angular line of 5 × e-13The fourth order square matrix of (1).
In the above circular fire orbit autonomous navigation method based on spherical unscented transformation, in the sixth step, the gain value K of the next periodk+1The calculation method comprises the following steps:
Figure BDA0002395266930000041
in the above circular fire orbit autonomous navigation method based on spherical unscented transformation, in the sixth step, the state quantity of the Mars probe in the next period
Figure BDA0002395266930000042
The calculation method comprises the following steps:
Figure BDA0002395266930000043
in the formula, ysThe unit vector of the Mars detector pointing to the Mars and the visual radius of the Mars are obtained for measurement.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the invention, the problem of serious nonlinearity of the rail dynamics is broken through by the circular fire rail autonomous navigation method based on spherical unscented transformation, so that the accuracy of autonomous navigation of the Mars probe is improved. The method solves the problem of autonomous orbit calculation for long-term operation in the period of ring fire, can save ground measurement and control resources, and improves the on-orbit safety of the Mars detector.
(2) The sigma characteristic points of the current state quantity are calculated, so that the accuracy of one-step prediction is improved;
(3) the invention improves the precision of autonomous navigation by adopting a spherical unscented transformation method.
Drawings
FIG. 1 is a flow chart of autonomous navigation of the fire-orbiting track according to the present invention.
Detailed Description
The invention is further illustrated by the following examples.
When the detector determines the autonomous orbit, the position of the detector under the Mars inertial system is calculated according to the attitude quaternion output by the star sensor and the orbit information output by the navigation sensor, and the position and the speed of the detector are estimated in real time by constructing a filtering algorithm by utilizing the basic principle of spherical traceless transformation. Compared with the prior art, its beneficial effect is: a circular fire orbit autonomous navigation method based on spherical unscented transformation enables a detector to utilize a full force field model of a Mars detector in an autonomous navigation process, and improves the accuracy of orbit autonomous determination.
As shown in fig. 1, the method for autonomous navigation around a fire track mainly includes the following steps:
step one, measuring the state quantity of the Mars detector in the current period
Figure BDA0002395266930000044
Quantity of state
Figure BDA0002395266930000045
The method comprises the steps of establishing a sigma point set according to the three-dimensional position of a Mars detector, wherein the sigma point set comprises the three-dimensional position and the three-dimensional speed; the sigma point set comprises 13 characteristic points, and each characteristic point sp is calculatediThe state quantity of the current period; i is a characteristic point number, i is 1, 2, … …, 13; the method for establishing the sigma point set comprises the following steps:
establishing a sphere by taking the current Mars detector position as a center, and randomly selecting 13 characteristic points on the surface of the sphere, wherein the 13 characteristic points are a sigma point set; each feature point represents a state quantity at a corresponding position on the surface of the sphere.
The method for calculating the state quantity of each feature point comprises the following steps:
order to
Figure BDA0002395266930000051
Then the process of the first step is carried out,
Figure BDA0002395266930000052
in the formula (I), the compound is shown in the specification,
Figure BDA0002395266930000053
representing the state quantity of the Mars detector in the current period;
spirepresenting the ith sigma point;
Pc ia 6 x 1 constant matrix is represented,
Figure BDA0002395266930000054
as follows:
Figure BDA0002395266930000055
Figure BDA0002395266930000056
Figure BDA0002395266930000057
Figure BDA0002395266930000058
Figure BDA0002395266930000061
Figure BDA0002395266930000062
step two, respectively using the state quantity of the current period as an initial value for each characteristic point according to a Mars probe orbit dynamics model, and recurringly estimating the state quantity of the next period of each characteristic point
Figure BDA0002395266930000063
The environmental parameters of the orbit dynamics model of the Mars probe are set as follows:
the spark is a central gravitational body; the attraction of the mars is a 4-order aspheric attraction; the dynamic model comprises a solar attraction and solar pressure shooting model.
Step three, according to the state quantity of the next period of each characteristic point
Figure BDA0002395266930000064
And the position and the speed of the Mars detector in the previous period, and calculating the approximate non-tracking mean value of the current period
Figure BDA0002395266930000065
Sum approximation unscented state quantity covariance
Figure BDA0002395266930000066
Approximate unscented mean for current cycle
Figure BDA0002395266930000067
The calculation method comprises the following steps:
Figure BDA0002395266930000068
in the formula, ω0＝0.25；
ω1＝0.0625；
Approximate unscented state quantity covariance
Figure BDA0002395266930000069
The calculation method comprises the following steps:
Figure BDA00023952669300000610
in the formula, the matrix is 6 × 6, the diagonal value is 1000, and the rest is 0.
Calculating a unit vector pointing to the mars by the mars detector and the apparent radius of the mars according to an observation mechanism to serve as a predicted value of the measurement quantity; calculating the measured predicted value of the ith characteristic point of the next period
Figure BDA00023952669300000611
Calculating the predicted mean value of the next period measurement
Figure BDA0002395266930000071
Measured predicted value of ith characteristic point of next period
Figure BDA0002395266930000072
The calculation method comprises the following steps:
Figure BDA0002395266930000073
predicted mean of next cycle measurement
Figure BDA0002395266930000074
The calculation method comprises the following steps:
Figure BDA0002395266930000075
step five, calculating the covariance P of the measurement quantity of the Mars detector in the current period according to the constant value matrix R of the measurement noiseyyAnd measure-state quantity covariance PXy(ii) a Measurement covariance PyyThe calculation method comprises the following steps:
Figure BDA0002395266930000076
wherein i is 2, 3, … …, 13;
measurement-state quantity covariance PXyThe calculation method comprises the following steps:
Figure BDA0002395266930000077
step six, calculating the gain value K of the next periodk+1(ii) a And according to the gain value K of the next periodk+1Calculating the state quantity of Mars detector in the next period
Figure BDA0002395266930000078
Gain value K of next periodk+1The calculation method comprises the following steps:
Figure BDA0002395266930000079
state quantity of Mars detector in next period
Figure BDA00023952669300000710
The calculation method comprises the following steps:
Figure BDA00023952669300000711
in the formula, ysThe unit vector of the Mars detector pointing to the Mars and the visual radius of the Mars are obtained for measurement.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.

Claims (8)

1. A circular fire orbit autonomous navigation method based on spherical unscented transformation is characterized in that: the method comprises the following steps:
step one, measuring the state quantity of the Mars detector in the current period
Figure FDA00034441982400000112
Quantity of state
Figure FDA00034441982400000113
The method comprises the steps of establishing a sigma point set according to the three-dimensional position of a Mars detector, wherein the sigma point set comprises the three-dimensional position and the three-dimensional speed; the sigma point set comprises 13 characteristic points, and each characteristic point sp is calculatediThe state quantity of the current period; i is a characteristic point number, i is 1, 2, … …, 13; in the first step, the method for establishing the sigma point set comprises the following steps:
establishing a sphere by taking the current Mars detector position as a center, and randomly selecting 13 characteristic points on the surface of the sphere, wherein the 13 characteristic points are a sigma point set; each feature point represents a state quantity at a corresponding position on the surface of the sphere;
the method for calculating the state quantity of each feature point comprises the following steps:
order to
Figure FDA0003444198240000011
Then the process of the first step is carried out,
Figure FDA0003444198240000012
in the formula (I), the compound is shown in the specification,
Figure FDA0003444198240000013
representing the state quantity of the Mars detector in the current period;
spirepresenting the ith sigma point;
Pc ia 6 x 1 constant matrix is represented,
Figure FDA0003444198240000014
step two, respectively using the state quantity of the current period as an initial value for each characteristic point according to a Mars probe orbit dynamics model, and recurringly estimating the state quantity of the next period of each characteristic point
Figure FDA0003444198240000015
Step three, according to the state quantity of the next period of each characteristic point
Figure FDA0003444198240000016
And the position and the speed of the Mars detector in the previous period, and calculating the approximate non-tracking mean value of the current period
Figure FDA0003444198240000017
Sum approximation unscented state quantity covariance
Figure FDA0003444198240000018
Step four, calculating the measurement predicted value of the ith characteristic point of the next period
Figure FDA0003444198240000019
Calculating the predicted mean value of the next period measurement
Figure FDA00034441982400000110
Step five, calculating the measurement covariance P of the Mars detector in the current period according to the measurement noise constant matrix RyyAnd measure-state quantity covariance PXy；
Step six, calculating the gain value K of the next periodk+1(ii) a And according to the gain value K of the next periodk+1Calculating the state quantity of Mars detector in the next period
Figure FDA00034441982400000111
2. The circular fire orbit autonomous navigation method based on spherical unscented transformation as claimed in claim 1, characterized in that: in the second step, the environmental parameters of the orbit dynamics model of the Mars probe are set as follows:
the spark is a central gravitational body; the attraction of the mars is a 4-order aspheric attraction; the dynamic model comprises a solar attraction and solar pressure shooting model.
3. The circular fire orbit autonomous navigation method based on spherical unscented transformation as claimed in claim 2, characterized in that: in the third step, the approximate unscented mean value of the current period
Figure FDA0003444198240000021
The calculation method comprises the following steps:
Figure FDA0003444198240000022
in the formula, ω0＝0.25；
ω1＝0.0625；
Approximate unscented state quantity covariance
Figure FDA0003444198240000023
The calculation method comprises the following steps:
Figure FDA0003444198240000024
in the formula, the matrix is 6 × 6, the diagonal value is 1000, and the rest is 0.
4. The circular fire orbit autonomous navigation method based on spherical unscented transformation as claimed in claim 3, characterized in that: in the fourth step, the measured predicted value of the ith characteristic point of the next period
Figure FDA0003444198240000025
The calculation method comprises the following steps:
Figure FDA0003444198240000026
predicted mean of next cycle measurement
Figure FDA0003444198240000027
The calculation method comprises the following steps:
Figure FDA0003444198240000028
5. the circular fire orbit autonomous navigation method based on spherical unscented transformation as claimed in claim 4, characterized in that: in the fifth step, the covariance P is measuredyyThe calculation method comprises the following steps:
Figure FDA0003444198240000029
wherein i is 1, 2, 3, … …, 13;
measurement-state quantity covariance PXyThe calculation method comprises the following steps:
Figure FDA0003444198240000031
6. the circular fire orbit autonomous navigation method based on spherical unscented transformation as claimed in claim 5, characterized in that: the constant value matrix R of the measurement noise is an angular line of 5 × e-13The fourth order square matrix of (1).
7. The circular fire orbit autonomous navigation method based on spherical unscented transformation as claimed in claim 6, characterized in that: in the sixth step, the next period is increasedBenefit value Kk+1The calculation method comprises the following steps:
Figure FDA0003444198240000032
8. the circular fire orbit autonomous navigation method based on spherical unscented transformation as claimed in claim 7, characterized in that: in the sixth step, the state quantity of the Mars detector in the next period
Figure FDA0003444198240000033
The calculation method comprises the following steps:
Figure FDA0003444198240000034
in the formula, ysThe unit vector of the Mars detector pointing to the Mars and the visual radius of the Mars are obtained for measurement.
CN202010128937.2A 2020-02-28 2020-02-28 Spherical traceless transformation-based circular fire track autonomous navigation method Active CN111238484B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010128937.2A CN111238484B (en) 2020-02-28 2020-02-28 Spherical traceless transformation-based circular fire track autonomous navigation method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010128937.2A CN111238484B (en) 2020-02-28 2020-02-28 Spherical traceless transformation-based circular fire track autonomous navigation method

Publications (2)

Publication Number Publication Date
CN111238484A CN111238484A (en) 2020-06-05
CN111238484B true CN111238484B (en) 2022-04-12

Family

ID=70865268

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010128937.2A Active CN111238484B (en) 2020-02-28 2020-02-28 Spherical traceless transformation-based circular fire track autonomous navigation method

Country Status (1)

Country Link
CN (1) CN111238484B (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104006813A (en) * 2014-04-03 2014-08-27 中国人民解放军国防科学技术大学 Pulsar/starlight angle combination navigation method of high orbit satellite
CN104038180A (en) * 2014-05-22 2014-09-10 中国科学院重庆绿色智能技术研究院 High moment matching based unscented kalman filter polynomial method
CN105547303A (en) * 2016-03-16 2016-05-04 中国人民解放军国防科学技术大学 Autonomous navigation method for libration point constellation
US9727034B1 (en) * 2014-04-29 2017-08-08 The United States Of America, As Represented By The Secretary Of The Navy Unscented control for uncertain dynamical systems
CN109631913A (en) * 2019-01-30 2019-04-16 西安电子科技大学 X-ray pulsar navigation localization method and system based on nonlinear prediction strong tracking Unscented kalman filtering
CN110146093A (en) * 2019-06-19 2019-08-20 北京理工大学 Binary asteroid detection independently cooperates with optical navigation method

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109388778A (en) * 2018-09-11 2019-02-26 东南大学 A kind of iteration volume point Unscented kalman filtering method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104006813A (en) * 2014-04-03 2014-08-27 中国人民解放军国防科学技术大学 Pulsar/starlight angle combination navigation method of high orbit satellite
US9727034B1 (en) * 2014-04-29 2017-08-08 The United States Of America, As Represented By The Secretary Of The Navy Unscented control for uncertain dynamical systems
CN104038180A (en) * 2014-05-22 2014-09-10 中国科学院重庆绿色智能技术研究院 High moment matching based unscented kalman filter polynomial method
CN105547303A (en) * 2016-03-16 2016-05-04 中国人民解放军国防科学技术大学 Autonomous navigation method for libration point constellation
CN109631913A (en) * 2019-01-30 2019-04-16 西安电子科技大学 X-ray pulsar navigation localization method and system based on nonlinear prediction strong tracking Unscented kalman filtering
CN110146093A (en) * 2019-06-19 2019-08-20 北京理工大学 Binary asteroid detection independently cooperates with optical navigation method

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
Celestial navigation in deep space exploration using spherical simplex unscented particle filter;Fangfang Zhao 等;《IET Signal Processing》;20180528;第12卷(第04期);第463-470页 *
非线性滤波算法及其在深空探测中的应用;赵光琼;《中国优秀硕士学位论文全文数据库信息科技辑》;20170215;正文第7-10，18-36页 *

Also Published As

Publication number Publication date
CN111238484A (en) 2020-06-05

Similar Documents

Publication Publication Date Title
CN109556632B (en) INS/GNSS/polarization/geomagnetic integrated navigation alignment method based on Kalman filtering
Luo et al. A new Kalman filter-based in-motion initial alignment method for DVL-aided low-cost SINS
Jae-Won Lever arm compensation for GPS/INS/odometer integrated system
CN103196445B (en) Based on the carrier posture measuring method of the earth magnetism supplementary inertial of matching technique
CN101344391A (en) Lunar vehicle pose self-confirming method based on full-function sun-compass
CN111027204B (en) Fusion processing method for measurement data of spaceflight emitted light, thunder, remote and navigation satellites
CN108592914A (en) The positioning of complex region inspecting robot, navigation and time service method under no GPS scenario
CN103884340B (en) A kind of information fusion air navigation aid of survey of deep space fixed point soft landing process
CN109507706B (en) GPS signal loss prediction positioning method
CN106997061B (en) A method of gravitational field inversion accuracy is improved based on relative velocity between disturbance star
CN112161632B (en) Satellite formation initial positioning method based on relative position vector measurement
CN108548542A (en) A kind of LEO based on atmospheric drag acceleration analysis determines method
CN108594271A (en) A kind of Combinated navigation method of the anti-deceptive interference based on composite layered filtering
CN103438890B (en) Based on the planetary power descending branch air navigation aid of TDS and image measurement
CN103256932B (en) Replacement and extrapolation combined navigation method
CN113916217A (en) Star positioning method based on partitioned stratosphere atmospheric refraction model
CN102607563B (en) System for performing relative navigation on spacecraft based on background astronomical information
CN104567868B (en) Method of airborne long-endurance astronomical navigation system based on INS correction
CN111323020B (en) Independent orbit determination method based on multi-vector observation of Mars edges and centers
CN103017773B (en) A kind of based on catalog of celestial bodies region feature and natural satellite road sign around section air navigation aid
CN111238484B (en) Spherical traceless transformation-based circular fire track autonomous navigation method
CN103884333A (en) Autonomous navigation initial benchmark capturing method for detecting in deep space
CN103064128A (en) Earth gravitational field recovery method based on distance-among-star error model
CN101608921B (en) Pulsar/CNS integrated navigation method
CN114063122B (en) On-orbit real-time orbit determination method for electric propulsion transfer orbit spacecraft satellite-borne GNSS

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