CN111947668A - Online estimation-based angle measurement/distance measurement combined navigation method for wooden star detector - Google Patents
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Abstract
The invention provides a method for measuring angle/ranging combined navigation of a Jupiter detector based on-line estimation, which comprises the steps of firstly, respectively taking the position and the speed of the detector and the position and the speed of a Jupiter as system state quantities, establishing a system state model according to the track dynamics, obtaining the star light angular distance measurement through an angle measuring sensor, obtaining the pulse arrival time measurement through an X-ray pulsar detector, respectively establishing a starlight angular distance measurement model and a pulse arrival time measurement model according to the starlight angular distance measurement and the pulse arrival time measurement, estimating and correcting the position and the speed of the wooden star on line by using unscented Kalman filtering, the method inhibits the influence of the ephemeris error of the Jupiter on the navigation precision, provides high-precision position and speed estimation information for the Jupiter detector, and has important practical significance on autonomous navigation of the Jupiter detector.
Description
Technical Field
The invention relates to the technical field of autonomous navigation of deep space probes, in particular to a method for measuring angles and distance of a wooden star probe by combining navigation based on-line estimation.
Background
China launches the first Mars exploration task-Tianqu I in China in 7, 23 months in 2020, develops the first real planet exploration in China, and plans to complete three tasks of winding, falling and patrolling once. With the development of carrier rockets and other deep space exploration technologies in China and the improvement of economic strength, detection tasks such as Venus and Jupiter and the like are developed gradually in the follow-up process.
For the planetary exploration task, the navigation accuracy has an important influence on the success or failure of the task. At present, navigation information is mainly provided for a detector through a ground measurement and control station, the method can meet the requirements of most near-earth space tasks, but when a deep space detection task at a longer distance is carried out, the ground radio measurement and control mainly has the problems of three aspects of extension during communication, navigation interruption possibly caused by interference of sunscals, celestial body shielding and the like, high operation cost and the like, and the requirement of the deep space detection task in the future on high-precision real-time navigation is difficult to meet. Therefore, it is necessary for the planetary probe to improve autonomous navigation capability of the probe.
The most mature autonomous astronomical navigation in the prior art is astronomical angle measurement navigation, and the method has the advantages of high instantaneous positioning precision and capability of providing direction information of the detector relative to a target celestial body. However, the farther the distance between the probe and the celestial body is, the lower the positioning accuracy of the angle measurement navigation is, and further, this method cannot directly provide information on the distance of the probe with respect to the target celestial body. The pulsar ranging navigation can provide high-precision positioning information for the detector, and the navigation precision is not influenced by the position between the detector and the celestial body. However, for the muxing detection task, because the current measurement level is limited, the muxing ephemeris contains a large error with the magnitude of about tens of kilometers, so that the position of the muxing relative to the sun cannot be accurately obtained, and the navigation precision is affected.
Disclosure of Invention
The invention provides a method for measuring angle/ranging combined navigation of a wooden star detector based on-line estimation, and aims to solve the problem of influence of a wooden star ephemeris error on navigation precision.
In order to achieve the above object, an embodiment of the present invention provides an online estimation-based method for integrated angle measurement/distance measurement navigation of a wooden star detector, including:
and 6, estimating and correcting the position and the speed of the Jupiter on line through unscented Kalman filtering to obtain the position and speed estimation information of the detector.
Wherein, the step 1 specifically comprises:
taking the position and speed of the detector and the position and speed of the wooden star as system state quantities, as follows:
wherein, Xp＝[rp vp]T，rpIndicating the position of the probe relative to the wooden star, vpRepresenting the velocity vector, X, of the detector relative to the Jupiterj＝[rj vj]T，rjIndicating the position of the Jupiter relative to the sun, vjRepresenting the velocity vector of the muxing relative to the sun.
Wherein, the step 1 further comprises:
the system state equation, as follows:
wherein r ispIndicating the position of the probe relative to the wooden star, vpRepresenting the velocity vector of the probe relative to the Jupiter, rjIndicating the position of the Jupiter relative to the sun, vjRepresenting the velocity vector of the muxing relative to the sun,
are respectively rp、vp、rj、vjThe derivative of (1), g represents the 2 norm of the vector, g does not count as much as the vector3Represents the cube of g | |, mujDenotes the gravitational constant, μ, of JupitersDenotes the gravitational constant of the sun, rpsRepresenting the position vector of the detector relative to the sun, rsj＝rp-rpsRepresenting the position vector of the sun relative to the Jupiter, wpRepresenting process noise, w, caused by various disturbances to the detectorjRepresenting process noise caused by various disturbances to which the wooden star is subjected;
formula (2) is represented as follows:
wherein,
the derivative of the state quantity X is represented,
representing time t
f (x (t), t) represents the system nonlinear state transfer function, w ═ 0 wp 0 wj]TRepresenting systematic process noise vectors, w (t) representing time tw。
Wherein, step 2 specifically includes:
obtaining the starlight angular distance between the detector and the wooden star and between the detector and the background fixed star by using the angular measurement sensor, and establishing a starlight angular distance measurement model by taking the starlight angular distance as the measurement, wherein the measurement model is as follows:
wherein alpha is1、α2And alpha3Respectively representing the angular distances r between the detector and the wooden star and three background starspIndicating the position of the probe relative to the wooden star, s1、s2And s3Respectively representing the direction vectors of three background stars under the inertial system.
Wherein, step 3 specifically includes:
measuring the angular separation of the stars as a quantity Z1＝[α1 α2 α3]TEstablishing an expression of a starlight angular distance measurement model, which is as follows:
Z1＝h1[X(t),t]+V1(t) (5)
wherein h is1[X(t),t]Non-linear continuous measurement function, V, representing angular separation of stars1(t) represents the measurement noise of the angular separation of the starlight at time t.
Wherein, step 4 specifically includes:
an X-ray pulsar detector is used to obtain a pulse arrival time measurement, and the pulse arrival time is used as a measurement to establish a pulse arrival time measurement model as follows:
wherein,
representing the time for the ith pulsar pulse to reach the solar system centroid,
represents the time of arrival of the ith pulsar pulse at the detector, b represents the position vector of the solar system centroid relative to the sun, c represents the speed of light, niRepresents the direction vector of the ith pulsar under the inertial system,
represents the distance, mu, from the ith pulsar to the center of mass of the solar systemsDenotes the gravitational constant of the sun, rpsRepresenting the position vector of the detector relative to the sun, rpIndicating the position of the probe relative to the wooden star, rjIndicating the position of the muxing relative to the sun.
Wherein, step 5 specifically includes:
measuring pulse arrival time as a quantity
An expression of a pulse arrival time measurement model is established as follows:
wherein,
representing the time for the ith pulsar pulse to reach the solar system centroid,
representing the time of arrival of the ith pulsar pulse at the detector, h2[X(t),t]Non-linear continuous measurement function, V, representing pulse arrival time2(t) represents the measurement noise of the pulse arrival time at time t.
Wherein, step 6 specifically includes:
when no pulse arrival time measurement is carried out at the filtering moment, a state estimation and an error covariance estimation of the detector are obtained through a system state model and a starlight angular distance measurement model in a fixed filtering period and by utilizing unscented Kalman filtering; and when the pulse arrival time at the filtering moment is measured, combining the system state model, the starlight angular distance measurement model and the pulse arrival time measurement model, and obtaining the state estimation and the error covariance estimation of the detector through unscented Kalman filtering to obtain navigation information.
The principle of the invention is as follows: due to the fact that the muxing ephemeris has large errors, the position and the speed of the muxing are used as states and expanded to state quantities, the position and the speed of the muxing are estimated on line through the star light angular distance measurement and the pulse arrival time measurement, the accuracy of the position and the speed of the muxing is improved, and the navigation precision is improved.
The scheme of the invention has the following beneficial effects:
according to the method for measuring the angle/distance of the wooden star detector based on the on-line estimation, the high-precision autonomous navigation of the deep space detector is achieved, the direction information of the detector relative to the wooden star is obtained through the star light angle distance measurement, meanwhile, the distance information of the detector relative to the sun is obtained through the pulse arrival time measurement, the influence of the ephemeris error of the wooden star on the accuracy of the measurement information is eliminated through the on-line estimation of the position and the speed of the wooden star, and the navigation precision is improved.
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FIG. 1 is a flow chart of the present invention;
FIG. 2 is a flow chart of the inventive combined navigation method based on-line estimation for measuring angle/distance of the Mars probe;
FIG. 3 is a schematic diagram of the X-ray pulsar navigation principle of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The invention provides a method for measuring angles/ranging combined navigation of a Jupiter detector based on-line estimation, aiming at the problem of influence of ephemeris error of the conventional Jupiter on navigation precision.
As shown in fig. 1 to 3, an embodiment of the present invention provides a method for integrated angle/distance measurement and navigation of a wooden star finder based on online estimation, including: step 1, taking the position and speed of a detector and the position and speed of a wooden star as system state quantities, and establishing a system state model according to track dynamics; step 2, obtaining star light angular distance measurement through an angle measuring sensor; step 3, establishing a starlight angular distance measurement model according to the starlight angular distance measurement; step 4, obtaining the pulse arrival time measurement through an X-ray pulsar detector; step 5, establishing a pulse arrival time measurement model according to the pulse arrival time measurement; and 6, estimating and correcting the position and the speed of the Jupiter on line through unscented Kalman filtering to obtain the position and speed estimation information of the detector.
According to the method for measuring the angle/distance of the wooden star detector based on the online estimation, the position and the speed of the wooden star are used as the state to be expanded and maintained into the state quantity, the position and the speed of the wooden star are estimated online through the measurement of the star light angular distance and the measurement of the pulse arrival time, the accuracy of the position and the speed of the wooden star is improved, and the navigation precision is improved.
Wherein, the step 1 specifically comprises: taking the position and speed of the detector and the position and speed of the wooden star as system state quantities, as follows:
wherein, Xp＝[rp vp]T，rpIndicating the position of the probe relative to the wooden star, vpRepresenting the velocity vector, X, of the detector relative to the Jupiterj＝[rj vj]T，rjIndicating the position of the Jupiter relative to the sun, vjRepresenting the velocity vector of the muxing relative to the sun.
Wherein, the step 1 further comprises: the system state equation, as follows:
wherein r ispIndicating the position of the probe relative to the wooden star, vpRepresenting the velocity vector of the probe relative to the Jupiter, rjIndicating the position of the Jupiter relative to the sun, vjRepresenting the velocity vector of the muxing relative to the sun,
are respectively rp、vp、rj、vjThe derivative of (1), g represents the 2 norm of the vector, g does not count as much as the vector3Represents the cube of g | |, mujDenotes the gravitational constant, μ, of JupitersDenotes the gravitational constant of the sun, rpsRepresenting the position vector of the detector relative to the sun, rsj＝rp-rpsRepresenting the position vector of the sun relative to the Jupiter, wpRepresenting process noise, w, caused by various disturbances to the detectorjRepresenting process noise caused by various disturbances to which the wooden star is subjected;
formula (2) is represented as follows:
wherein,
the derivative of the state quantity X is represented,
representing time t
f (x (t), t) represents the system nonlinear state transfer function, w ═ 0 wp 0 wj]TRepresenting the system process noise vector, w (t) represents w at time t.
Wherein, step 2 specifically includes: obtaining the starlight angular distance between the detector and the wooden star and between the detector and the background fixed star by using the angular measurement sensor, and establishing a starlight angular distance measurement model by taking the starlight angular distance as the measurement, wherein the measurement model is as follows:
wherein alpha is1、α2And alpha3Respectively representing the angular distances r between the detector and the wooden star and three background starspIndicating the position of the probe relative to the wooden star, s1、s2And s3Respectively representing the direction vectors of three background stars under the inertial system.
Wherein, step 3 specifically includes: measuring the angular separation of the stars as a quantity Z1＝[α1 α2 α3]TEstablishing an expression of a starlight angular distance measurement model, which is as follows:
Z1＝h1[X(t),t]+V1(t) (5)
wherein h is1[X(t),t]Non-linear continuous measurement function, V, representing angular separation of stars1(t) represents the measurement noise of the angular separation of the starlight at time t.
Wherein, step 4 specifically includes: an X-ray pulsar detector is used to obtain a pulse arrival time measurement, and the pulse arrival time is used as a measurement to establish a pulse arrival time measurement model as follows:
wherein,
representing the time for the ith pulsar pulse to reach the solar system centroid,
represents the time of arrival of the ith pulsar pulse at the detector, b represents the position vector of the solar system centroid relative to the sun, c represents the speed of light, niRepresents the direction vector of the ith pulsar under the inertial system,
represents the distance, mu, from the ith pulsar to the center of mass of the solar systemsDenotes the gravitational constant of the sun, rpsRepresenting the position vector of the detector relative to the sun, rpIndicating the position of the probe relative to the wooden star, rjIndicating the position of the muxing relative to the sun.
According to the method for measuring angle/distance by combining navigation based on online estimation and used for the wooden star detector, the accurate position estimation r of the detector relative to the wooden star can be obtained according to the formula (6)pAccurate knowledge of the location vector r of Jupiter relative to the sun is requiredjDirectly using the muxing ephemeris introduces muxing ephemeris error and affects the navigation precision, so r in the state quantity is usedjTo r tojAnd (6) online estimation and correction.
Wherein, step 5 specifically includes: measuring pulse arrival time as a quantity
An expression of a pulse arrival time measurement model is established as follows:
wherein,
representing the time for the ith pulsar pulse to reach the solar system centroid,
representing the time of arrival of the ith pulsar pulse at the detector, h2[X(t),t]Non-linear continuous measurement function, V, representing pulse arrival time2(t) represents the measurement noise of the pulse arrival time at time t.
Wherein, step 6 specifically includes: when no pulse arrival time measurement is carried out at the filtering moment, a state estimation and an error covariance estimation of the detector are obtained through a system state model and a starlight angular distance measurement model in a fixed filtering period and by utilizing unscented Kalman filtering; and when the pulse arrival time at the filtering moment is measured, combining the system state model, the starlight angular distance measurement model and the pulse arrival time measurement model, and obtaining the state estimation and the error covariance estimation of the detector through unscented Kalman filtering to obtain navigation information.
In the method for measuring angle/distance of a wooden star detector based on online estimation, the position and speed of the detector and the position and speed of a wooden star are respectively used as system state quantities, a system state model is established according to track dynamics, star angular distance measurement is obtained through an angle measuring sensor, pulse arrival time measurement is obtained through an X-ray pulsar detector, a star angular distance measurement model and a pulse arrival time measurement model are respectively established according to the star angular distance measurement and the pulse arrival time measurement, and when no pulse arrival time measurement is measured at the filtering moment, the state estimation and error covariance estimation of the detector are obtained through the system state model and the star angular distance measurement model in a fixed filtering period and through unscented Kalman filtering; when the pulse arrival time at the filtering moment is measured, the state estimation and error covariance estimation of the detector are obtained through the unscented Kalman filtering by combining a system state model, a starlight angular distance measurement model and a pulse arrival time measurement model, and the position and speed estimation information of the detector is obtained to obtain navigation information.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. A method for measuring angle/distance of a wooden star detector and combining navigation based on-line estimation is characterized by comprising the following steps:
step 1, taking the position and speed of a detector and the position and speed of a wooden star as system state quantities, and establishing a system state model according to track dynamics;
step 2, obtaining star light angular distance measurement through an angle measuring sensor;
step 3, establishing a starlight angular distance measurement model according to the starlight angular distance measurement;
step 4, obtaining the pulse arrival time measurement through an X-ray pulsar detector;
step 5, establishing a pulse arrival time measurement model according to the pulse arrival time measurement;
and 6, estimating and correcting the position and the speed of the Jupiter on line through unscented Kalman filtering to obtain the position and speed estimation information of the detector.
2. The method for integrated muxing detector angle measurement/distance measurement navigation based on-line estimation as recited in claim 1, wherein the step 1 specifically comprises:
taking the position and speed of the detector and the position and speed of the wooden star as system state quantities, as follows:
wherein, Xp＝[rp vp]T，rpIndicating the position of the probe relative to the wooden star, vpRepresenting the velocity vector, X, of the detector relative to the Jupiterj＝[rj vj]T，rjIndicating the position of the Jupiter relative to the sun, vjRepresenting the velocity vector of the muxing relative to the sun.
3. The method for integrated muxing detector angle/distance measurement navigation based on-line estimation as recited in claim 2, wherein the step 1 further comprises:
the system state equation, as follows:
wherein r ispIndicating the position of the probe relative to the wooden star, vpRepresenting the velocity vector of the probe relative to the Jupiter, rjIndicating the position of the Jupiter relative to the sun, vjRepresenting the velocity vector of the muxing relative to the sun,
are respectively rp、vp、rj、vjThe derivative of (1), g represents the 2 norm of the vector, g does not count as much as the vector3Represents the cube of g | |, mujDenotes the gravitational constant, μ, of JupitersDenotes the gravitational constant of the sun, rpsRepresenting the position vector of the detector relative to the sun, rsj＝rp-rpsRepresenting the position vector of the sun relative to the Jupiter, wpRepresenting process noise, w, caused by various disturbances to the detectorjRepresenting process noise caused by various disturbances to which the wooden star is subjected;
formula (2) is represented as follows:
wherein,
the derivative of the state quantity X is represented,
representing time t
f (x (t), t) represents the system nonlinear state transfer function, w ═ 0 wp 0 wj]TRepresenting the system process noise vector, w (t) represents w at time t.
4. The method for integrated muxing detector angle measurement/distance measurement navigation based on-line estimation as recited in claim 3, wherein the step 2 specifically comprises:
obtaining the starlight angular distance between the detector and the wooden star and between the detector and the background fixed star by using the angular measurement sensor, and establishing a starlight angular distance measurement model by taking the starlight angular distance as the measurement, wherein the measurement model is as follows:
wherein alpha is1、α2And alpha3Respectively representing the angular distances r between the detector and the wooden star and three background starspIndicating the position of the probe relative to the wooden star, s1、s2And s3Respectively representing the direction vectors of three background stars under the inertial system.
5. The method for integrated muxing detector angle measurement/distance measurement navigation based on-line estimation as recited in claim 4, wherein step 3 specifically comprises:
measuring the angular separation of the stars as a quantity Z1＝[α1 α2 α3]TEstablishing an expression of a starlight angular distance measurement model, which is as follows:
Z1＝h1[X(t),t]+V1(t) (5)
wherein h is1[X(t),t]Non-linear continuous measurement function, V, representing angular separation of stars1(t) represents the measurement noise of the angular separation of the starlight at time t.
6. The method for integrated muxing detector angle measurement/distance measurement navigation based on-line estimation as recited in claim 5, wherein the step 4 specifically comprises:
an X-ray pulsar detector is used to obtain a pulse arrival time measurement, and the pulse arrival time is used as a measurement to establish a pulse arrival time measurement model as follows:
wherein,
representing the time for the ith pulsar pulse to reach the solar system centroid,
represents the time of arrival of the ith pulsar pulse at the detector, b represents the position vector of the solar system centroid relative to the sun, c represents the speed of light, niRepresents the direction vector of the ith pulsar under the inertial system,
represents the distance, mu, from the ith pulsar to the center of mass of the solar systemsDenotes the gravitational constant of the sun, rpsRepresenting the position vector of the detector relative to the sun, rpIndicating the position of the probe relative to the wooden star, rjIndicating the position of the muxing relative to the sun.
7. The method for integrated muxing detector angle measurement/distance measurement navigation based on-line estimation as recited in claim 6, wherein the step 5 specifically comprises:
measuring pulse arrival time as a quantity
An expression of a pulse arrival time measurement model is established as follows:
wherein,
representing the time for the ith pulsar pulse to reach the solar system centroid,
representing the time of arrival of the ith pulsar pulse at the detector, h2[X(t),t]Non-linear continuous measurement function, V, representing pulse arrival time2(t) represents the measurement noise of the pulse arrival time at time t.
8. The method for integrated muxing detector angle measurement/distance measurement navigation based on-line estimation as recited in claim 1, wherein step 6 specifically comprises:
when no pulse arrival time measurement is carried out at the filtering moment, a state estimation and an error covariance estimation of the detector are obtained through a system state model and a starlight angular distance measurement model in a fixed filtering period and by utilizing unscented Kalman filtering; and when the pulse arrival time at the filtering moment is measured, combining the system state model, the starlight angular distance measurement model and the pulse arrival time measurement model, and obtaining the state estimation and the error covariance estimation of the detector through unscented Kalman filtering to obtain navigation information.
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| CN113375659A (en) * | 2021-08-16 | 2021-09-10 | 中国人民解放军国防科技大学 | Pulsar navigation method based on starlight angular distance measurement information |
| CN113375659B (en) * | 2021-08-16 | 2021-11-02 | 中国人民解放军国防科技大学 | Pulsar navigation method based on starlight angular distance measurement information |
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