CN113844682B - Mars EDL process large dynamic navigation test verification system and method - Google Patents
Mars EDL process large dynamic navigation test verification system and method Download PDFInfo
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Abstract
A Mars EDL process large dynamic navigation test verification system and method belong to the technical field of navigation. The test system provided by the invention adopts the mechanical turntable to carry the IMU sensor to simulate the real gesture movement of the Mars lander EDL process through the gesture mapping method, and the key technology of inertial navigation and related performance can be effectively verified and evaluated by utilizing the actual output data of the mechanical turntable and the data acquired by the IMU, so that the test system has the characteristics of simplicity, easiness in implementation, high reliability, strong pertinence and the like.
Description
Technical Field
The invention relates to a Mars EDL process large dynamic navigation test verification system and a Mars EDL process large dynamic navigation test verification method, and belongs to the technical field of navigation.
Background
The Entry, landing and Landing (EDL) of the Mars detection task is the last 6, 7 minutes of the Mars detector's approximately 7 hundred million kilometers trip, and is the key and most difficult stage of the Mars surface detection task. EDL technology is also one of the key technologies for the task of mars surface detection. Starting from the Mars detector entering the Mars atmosphere at the speed of 2 ten thousand kilometers per hour, the Mars detector is subjected to a series of stages such as atmospheric deceleration, parachute dragging, power reduction and the like, and during the period, inertial navigation can be performed only by using an IMU, no other measurement can be performed in the whole course of attitude estimation in the inertial navigation, and the lander crashes once the attitude estimation error is too large, so that the performance of the inertial navigation in the Mars EDL process, particularly the accuracy of the attitude estimation, is a key factor for determining the success of a Mars soft landing task. In the past goddess Chang's series moon soft landing process, the gesture motion of detector is relatively more steady, and the interference is few, and IMU operational environment is comparatively ideal, consequently only need to do static navigation test can verify the performance of moon landing process inertial navigation. Compared with the lunar landing process, the dynamic of the Mars EDL process is extremely large, particularly the angular velocity oscillation of the parachute landing section is severe, and even the gyro is saturated, moreover, the IMU is greatly interfered in the whole process, the working environment is bad, and therefore the reliability and the effectiveness of inertial navigation based on the IMU are required to be verified by simulating the gesture motion of the Mars EDL large dynamic process.
Disclosure of Invention
The invention solves the technical problems that: the system adopts a mechanical turntable to carry an IMU sensor to simulate the real gesture movement of the Mars lander EDL process by a gesture mapping method, and key technology and related performance of inertial navigation can be effectively verified and evaluated by utilizing the actual output data of the mechanical turntable and the data acquired by the IMU.
The technical scheme of the invention is as follows: a Mars EDL process large dynamic navigation test verification system comprises a mathematical simulation computer, an IMU module and data acquisition equipment thereof, a three-axis mechanical turntable and a control computer thereof, a satellite-borne computer and a ground computer;
the mathematical simulation computer is used for constructing a gesture dynamics model for simulating the gesture movement of the Mars EDL whole-process lander, calculating gesture change data of the Mars EDL whole-process lander in real time, and sending the gesture change data to the mechanical turntable control computer through the data interface module;
the three-axis mechanical turntable control computer generates a three-axis mechanical turntable control instruction according to the received attitude change data of the Mars EDL process lander and sends the three-axis mechanical turntable control instruction to the three-axis mechanical turntable;
the triaxial mechanical turntable carries the IMU module and performs triaxial rotation according to a control instruction of the triaxial mechanical turntable; the IMU module is fixedly arranged on the three-axis mechanical turntable, rotates along with the three-axis mechanical turntable, measures angular velocity information, and sends the acquired angular velocity information to the satellite-borne computer and the ground computer;
the spaceborne computer carries out inertial navigation calculation according to the angular velocity information and outputs attitude information of the inertial navigation calculation;
and the ground computer performs navigation calculation according to the angular velocity information, converts the angular velocity information into the attitude of the IMU module relative to the geographic system, obtains inertial navigation attitude determination errors by comparing the attitude information with the inertial navigation calculation, and realizes experimental verification of on-board inertial navigation.
Further, the three-axis mechanical turntable control computer firstly receives the initial gesture control mechanical turntable sent by the mathematical simulation computer through the data interface module to complete initial gesture alignment; and then the three-axis mechanical turntable realizes the posture tracking of the Mars EDL process by tracking the three-axis angular velocity sent in real time by the mathematical simulation computer, acquires and records the three-axis angular velocity and the posture angle of the turntable according to a preset sampling period by using testing equipment matched with the turntable in the posture tracking process, and sends acquired data to a ground computer.
Further according to
And->
Calculating to obtain the IMU at the initial t of the test 0 The position, speed and posture at the moment finish the initial alignment; wherein (1)>
For the initial t of the test 0 Conversion matrix of IMU measurement coordinate system relative to inertial reference system when moment turntable is at zero position>
For the conversion matrix of IMU measurement coordinate system relative to IMU reference coordinate system,/for the conversion matrix of IMU measurement coordinate system>
For the transformation matrix of the IMU reference coordinate system relative to the turntable reference coordinate system when the turntable is in the zero position, +.>
C, converting matrix of the northeast geographic system of the turntable reference coordinate system relative to the test field nf Posture matrix from earth system to north-east geographic system, C fi Is an attitude matrix from an inertia system to a ground fixation system, R is the center distance of a test field, R is the local earth reference ellipsoid radius of the test field, h is the elevation of the test field, and R is e 、R p Is the semi-major axis and semi-minor axis of the earth reference ellipsoid, L c Is the geocentric latitude of the test site.
Further, the inertial navigation solution includes the steps of:
performing inertial navigation extrapolation calculation by using the received IMU module measurement data;
and converting the calculated posture of the IMU module relative to the inertial system and the position and speed under the inertial system into the geographic system of northeast of the world to finish the inertial navigation calculation.
Further, the attitude dynamics model outputs three-axis angular velocity information of an IMU module measurement coordinate system relative to an inertial system in a Mars EDL process according to actual installation of the IMU module, and the three-axis mechanical turntable control computer calculates a three-axis mechanical turntable rotation instruction according to installation relation of the IMU module and the three-axis mechanical turntable and the three-axis angular velocity of the IMU measurement coordinate system relative to the inertial system, which is given by the mathematical simulation computer, and drives the three-axis mechanical turntable to rotate so as to simulate the attitude movement of the Mars EDL process.
Further, in the attitude dynamics model, the Mars EDL process attitude dynamics equation is that
Wherein: i S Is the moment of inertia; omega is the angular velocity of the detector relative to the inertial frame; m & lt/M & gt R Is an aerodynamic moment; m & lt/M & gt c Torque generated for the engine; m & lt/M & gt d Is a disturbance moment; m & lt/M & gt la Is the tension moment of the umbrella rope.
According to the Mars EDL process large dynamic navigation test verification system, the Mars EDL process large dynamic navigation test verification method comprises the following steps:
constructing an attitude dynamics model for simulating the attitude motion of the Mars EDL whole-process lander, calculating the attitude change data of the Mars EDL whole-process lander in real time, and sending the attitude change data to a mechanical turntable control computer through a data interface module;
the three-axis mechanical turntable control computer generates a three-axis mechanical turntable control instruction according to the received attitude change data of the Mars EDL process lander and sends the three-axis mechanical turntable control instruction to the three-axis mechanical turntable;
the IMU module on the triaxial mechanical turntable performs triaxial rotation according to the control instruction of the triaxial mechanical turntable; the IMU module is fixedly arranged on the three-axis mechanical turntable, rotates along with the three-axis mechanical turntable, measures angular velocity information, and sends the acquired angular velocity information to the satellite-borne computer and the ground computer;
the spaceborne computer carries out inertial navigation calculation according to the angular velocity information and outputs attitude information of the inertial navigation calculation;
the ground computer carries out navigation calculation according to the angular velocity information, converts the angular velocity information into the attitude of the IMU module relative to the geographic system, obtains inertial navigation attitude determination errors by comparing the attitude information with inertial navigation calculation, and realizes experimental verification of on-board inertial navigation.
Further, the three-axis mechanical turntable control computer firstly receives the initial gesture control mechanical turntable sent by the mathematical simulation computer through the data interface module to complete initial gesture alignment; thirdly, the three-axis mechanical turntable realizes the posture tracking of the Mars EDL process through tracking the three-axis angular velocity sent by the mathematical simulation computer in real time, acquires and records the angular velocity and the posture angle of the three axes of the turntable through turntable matched test equipment according to a preset sampling period in the posture tracking process, and sends acquired data to a ground computer;
according to
And->
Calculating to obtain the IMU at the initial t of the test 0 The position, speed and posture at the moment finish the initial alignment; wherein (1)>
For the initial t of the test 0 Conversion matrix of IMU measurement coordinate system relative to inertial reference system when moment turntable is at zero position>
For the conversion matrix of IMU measurement coordinate system relative to IMU reference coordinate system,/for the conversion matrix of IMU measurement coordinate system>
For the transformation matrix of the IMU reference coordinate system relative to the turntable reference coordinate system when the turntable is in the zero position, +.>
C, converting matrix of the northeast geographic system of the turntable reference coordinate system relative to the test field nf Posture matrix from earth system to north-east geographic system, C fi Is the pose from inertial system to ground systemThe state array, R is the center distance of the test site, R is the local earth reference ellipsoid of the test site, h is the elevation of the test site, R e 、R p Is the semi-major axis and semi-minor axis of the earth reference ellipsoid, L c The latitude of the center of the earth is the latitude of the center of the earth of the test site;
the inertial navigation solution comprises the following steps:
performing inertial navigation extrapolation calculation by using the received IMU module measurement data;
converting the calculated posture of the IMU module relative to the inertial system and the position and speed under the inertial system into the geographic system of northeast of the world to finish the inertial navigation calculation;
the attitude dynamics model outputs three-axis angular velocity information of an IMU module measurement coordinate system relative to an inertial system in a Mars EDL process according to actual installation of the IMU module, and the three-axis mechanical turntable control computer calculates a three-axis mechanical turntable rotation instruction according to the installation relation between the IMU module and the three-axis mechanical turntable and the three-axis angular velocity of the IMU measurement coordinate system relative to the inertial system, which is given by the mathematical simulation computer, and drives the three-axis mechanical turntable to rotate so as to simulate the attitude movement of the Mars EDL process;
in the attitude dynamics model, the attitude dynamics equation of the Mars EDL process is that
Wherein: i S Is the moment of inertia; omega is the angular velocity of the detector relative to the inertial frame; m & lt/M & gt R Is an aerodynamic moment; m & lt/M & gt c Torque generated for the engine; m & lt/M & gt d Is a disturbance moment; m & lt/M & gt la Is the tension moment of the umbrella rope.
A computer readable storage medium storing a computer program which when executed by a processor implements the steps of the Mars EDL process large dynamic navigation test verification method.
The Mars EDL process large dynamic navigation test verification device comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor realizes the steps of the Mars EDL process large dynamic navigation test verification method when executing the computer program.
Compared with the prior art, the invention has the advantages that:
(1) The test system acquires the attitude angle and angular velocity information of the Mars EDL process in real time through the mathematical closed-loop simulation system, drives the three-axis mechanical turntable carrying the IMU sensor to rotate by utilizing the attitude information to simulate the real attitude motion of the Mars lander EDL process, and can effectively verify and evaluate the key technology and related performance of inertial navigation by utilizing the actual output data of the mechanical turntable and the data acquired by the IMU.
(2) The invention designs a large dynamic navigation test verification system for the Mars EDL process, which realizes high-precision simulation of large-range gesture movement in the complex dynamic processes of pneumatic deceleration, parachute flicking, parachute landing, outsole throwing, back cover throwing and the like of the Mars EDL process entering a cabin, and lays a foundation for inertial navigation algorithm verification and performance evaluation based on an IMU (inertial measurement unit) of the Mars EDL process. The method comprises the steps of carrying out a first treatment on the surface of the
(3) The invention designs a Mars EDL process large dynamic navigation test verification method, provides a dynamic navigation test process pose mapping method and an inertial navigation performance evaluation method, and realizes the validity verification and performance evaluation of an inertial navigation algorithm.
Drawings
FIG. 1 is a schematic diagram of the system for verifying the large dynamic navigation test in the Mars EDL process.
Detailed Description
In order to better understand the technical solutions described above, the following detailed description of the technical solutions of the present application is provided through the accompanying drawings and specific embodiments, and it should be understood that the specific features of the embodiments and embodiments of the present application are detailed descriptions of the technical solutions of the present application, and not limit the technical solutions of the present application, and the technical features of the embodiments and embodiments of the present application may be combined with each other without conflict.
The following describes in further detail a system and a method for verifying a large dynamic navigation test of a Mars EDL process according to an embodiment of the present application with reference to the accompanying drawings, and a specific implementation manner may include (as shown in FIG. 1-FIG):
the test system consists of a mathematical simulation computer, an IMU, data acquisition equipment of the IMU, a three-axis mechanical turntable, a control computer of the three-axis mechanical turntable, a satellite-borne computer, satellite inertial navigation algorithm software, a ground computer and ground navigation performance evaluation software.
The mathematical simulation computer establishes a complete mathematical simulation model for the gesture movement of the whole process lander of the Mars EDL by establishing a dynamic model of the Mars EDL process, a measuring model of a sensor, an executing mechanism model and an on-board GNC algorithm, gives the gesture change of the whole process lander of the Mars EDL process in real time, comprises gesture quaternions and angular velocities of a lander body system relative to an inertial system, and sends the gesture quaternions and angular velocities to the mechanical turntable control computer through the data interface module.
The triaxial mechanical turntable carries the IMU to perform triaxial rotation according to a computer instruction controlled by the mechanical turntable. The mechanical turntable control computer firstly receives the initial posture sent by the mathematical simulation computer through the data interface module to control the mechanical turntable to complete initial posture alignment; and then the three-axis turntable realizes the posture tracking of the Mars EDL process through tracking the three-axis angular velocity sent by the mathematical simulation computer, the three-axis angular velocity and the posture angle of the turntable are acquired and recorded through turntable matched test equipment according to a preset sampling period in the posture tracking process, and the acquired data are sent to a ground computer.
The IMU is firmly arranged on the mechanical turntable through the tool, rotates along with the three-axis turntable, measures the rotation angular velocity, and sends the acquired angular velocity information to the spaceborne computer.
The satellite-borne computer utilizes the data collected by the IMU to transport the inertial navigation algorithm software on the planet. And the inertial navigation algorithm software performs inertial navigation extrapolation calculation by using the received IMU measurement data. And then converting the posture of the IMU relative to the inertial system and the position and speed under the inertial system obtained by inertial navigation into the geographic system of northeast of the world, wherein the position and speed true value of the IMU relative to the geographic system is zero, so that the position and speed estimated value obtained by navigation calculation is the navigation error value.
The ground computer runs ground resolving software by utilizing data output by the mechanical turntable, converts the rotation angle output by the turntable into the attitude of the IMU relative to the geographical system, and obtains inertial navigation attitude determination errors by comparing the attitude with the attitude resolved by inertial navigation, thereby realizing the function of checking the performance of inertial navigation on the satellite.
Mars EDL process attitude dynamics simulation method
By establishing a gesture dynamics model of the Mars EDL process lander, high simulation degree simulation of gesture motion of the Mars EDL process is given, three-axis angular velocity information of an IMU measurement coordinate system of the Mars EDL process relative to an inertial system is output according to actual installation of the IMU, a mechanical turntable control computer calculates a three-axis mechanical turntable rotation instruction according to installation relation of the IMU and the turntable and the three-axis angular velocity of the IMU measurement coordinate system relative to the inertial system, which is given by the mathematical simulation computer, and drives the three-axis mechanical turntable to rotate so as to truly simulate the gesture motion of the Mars EDL process.
Pose mapping method in dynamic navigation test process
The initial posture of the navigation test initial moment IMU measurement coordinate system relative to the inertial reference system can be established by defining a local fixedly connected coordinate system and an inertial reference system, externally measuring and determining a conversion array of the three-axis mechanical turntable reference coordinate system relative to the local northeast geographic coordinate system, a conversion array of the initial moment IMU reference coordinate system relative to the turntable zero coordinate system and the like; on the other hand, according to the relation between the local longitude and latitude and the earth fixed system and the inertial reference system, the position and the initial speed of the IMU at the inertial system at the initial moment can be calculated; once the initial posture, the initial position and the initial speed of the IMU measurement coordinate system are established, the posture, the position and the speed of the IMU relative to an inertial reference system in the test process can be obtained by utilizing an on-board inertial navigation extrapolation algorithm according to the angular speed and the acceleration measurement of the IMU, and then the posture, the position and the speed of the IMU measurement coordinate system relative to the local northeast system can be obtained by the conversion relation between the inertial reference system and the local northeast geographic system, thereby completing the posture mapping of the dynamic navigation test process
EDL process dynamic navigation performance evaluation method
The attitude of the IMU measurement coordinate system relative to the local northeast system in the dynamic navigation test process can be calculated through the installation relation of the IMU and the mechanical turntable at the initial test time, the relation of the mechanical turntable and the local northeast geographic system and the frame angle of the turntable in triaxial rotation. The IMU measurement coordinate system obtained through the rotation angle of the turntable is taken as a reference relative to the posture of the local world northeast system, and the posture estimation performance of the inertial navigation on the satellite can be evaluated by comparing the IMU measurement coordinate system with the posture obtained through the posture mapping method; on the other hand, because the IMU at the starting and ending time of the test is unchanged relative to the position of the northeast geographic system of the local day and the speed is 0, the position and speed estimated value obtained by navigation calculation is the navigation error value, and therefore the performance evaluation of the on-board inertial navigation position estimation is completed.
In the scheme provided by the embodiment of the application, the verification method for the Mars EDL process large dynamic navigation test specifically comprises the following steps:
first, initial alignment of dynamic navigation test
Defining a local fixed coordinate system
The z axis points to the earth rotation axis, the x axis points to the longitude meridian of the test place, and the y axis and the x and z axes form a right-hand rectangular coordinate system which rotates along with the earth; defining an inertial coordinate system->
The system is the same as the instantaneous ground system at the initial moment of the test, is an inertial fixed coordinate system and does not rotate along with the earth; north-east geographic coordinate System->
Which rotates with the earth; the coordinate system of the turntable is +.>
The reference coordinate system of the turntable is +.>
The IMU reference coordinate system is->
Which rotates with the turntable; the measurement coordinate system formed by the three axes of the IMU is +.>
Which rotates with the turntable.
Attitude matrix C from earth system to northeast geographic system nf : obtained by rotation of a main shaft
C nf ＝C y (-L) (1)
Wherein C is y () For rotation about the Y-axis principal axis, L is the geographic latitude.
Inertial to ground fixed attitude matrix C fi Is obtained by rotation of a main shaft
C fi ＝C z (ωΔt) (2)
Wherein C is z () For rotation about the Z-axis spindle; omega is the rotation angular velocity of the earth; Δt=t-t 0 To the initial time of the test, t 0 Time C fi Is a unit array.
Determination of a transformation matrix of a turret reference coordinate system with respect to a test site northeast and northeast geographic system by external site measurements
And a transformation matrix of the IMU reference coordinate system relative to the turntable reference coordinate system when the turntable is in the zero position +.>
Then the initial t of the test can be calculated 0 Conversion matrix of IMU reference coordinate system relative to earth-sky northeast geographic system when moment turntable is at zero position>
And then the initial t of the test can be obtained 0 Conversion array of IMU measurement coordinate system relative to inertial reference system when moment turntable is at zero position
Initial test t 0 Attitude quaternion q of IMU measurement coordinate system relative to earth, heaven, northeast and north geographic system when moment turntable is in zero position 0
Where Aq () represents the transfer function from the gesture matrix to the gesture quaternion.
The calculation formula of the center distance r of the test site is as follows
r＝R+h
Wherein h is the elevation of the test site; r is R e And R is p Is the semi-major and semi-minor axes of the earth reference ellipsoid.
Initial t of test 0 Position r of moment IMU in inertial reference frame i,0 And velocity v i,0 Calculated as follows
r i,0 ＝r[cosL c 0 sinL c ]
v i,0 ＝ω f ×r i,0
(7)
Wherein L is c The latitude of the center of the earth is the latitude of the center of the earth of the test site; omega f ＝[0 0 1] T The rotation vector of the earth is projected in a ground system.
Calculated according to the formulas (4) and (6)IMU at initial test t 0 The position, speed and posture of the moment, the initial alignment is completed.
Second, mars EDL process attitude dynamics simulation
The Mars EDL process attitude kinetic equation is as follows:
wherein: i S Is the moment of inertia; omega is the angular velocity of the detector relative to the inertial frame; m & lt/M & gt R The aerodynamic moment can be calculated according to the atmospheric model and the position, speed and posture of the detector; m & lt/M & gt c The torque generated by the engine is given according to an engine control instruction given by an on-board GNC algorithm and an engine model; m & lt/M & gt d The torque generated in the processes of outsole polishing, back polishing cover polishing and the like is mainly given by a model in the process of outsole polishing, back polishing cover polishing and the like; m & lt/M & gt la The tension moment of the umbrella rope is given by an umbrella dynamics model.
The detector angular velocity omega can be converted into the angular velocity omega of the IMU measurement coordinate system relative to the inertial system according to the actual installation of the IMU s ＝C sb Omega, wherein C sb Is the mounting matrix of the IMU in the probe.
And according to the attitude dynamic model, high-precision angular velocity simulation of large-range attitude movement in the complex dynamic process of pneumatic deceleration, parachute flicking, parachute landing, outsole throwing, back cover throwing and the like in the Mars EDL process is provided, and the real-time angular velocity simulation is sent to a three-axis mechanical turntable control computer.
Thirdly, dynamic navigation test of Mars EDL process
The triaxial mechanical turntable control computer measures the triaxial angular velocity omega of the coordinate system relative to the inertial system according to the installation relation between the IMU and the turntable and the received IMU s The rotational angular velocity omega of the turntable can be calculated c Is that
And controlling the mechanical turntable to rotate. The IMU collects angular velocity and acceleration information in real time in the rotation process of the mechanical turntable, and sends the angular velocity and acceleration information to the spaceborne computer, and the spaceborne computer extrapolates according to the following formula to obtain
Wherein r, v and q are respectively the IMU position and speed under the inertial system and the attitude quaternion of the IMU measurement coordinate system relative to the inertial system, g is the representation of the local gravity acceleration of the test site under the inertial system, a imu And omega imu The body acceleration and the angular velocity are obtained by using IMU measurement processing according to an on-board inertial navigation algorithm.
The navigation test end t can be obtained according to (9) f Moment of inertia position r f Velocity v f Posture q f Based on the relation between the inertial system and the local northeast geographic system, t can be obtained f Position r under geographic system of northeast of moment local day nf Velocity v nf Posture q nf 。
Attitude matrix of turntable coordinate system relative to turntable reference coordinate system in dynamic navigation test process
Frame angle calculation by three-axis rotation of turntable
Wherein the method comprises the steps of
C y (θ),C z (ψ) is rotation about the x, y, z axis, respectively +.>
And a rotation matrix of theta and phi angles. Then the attitude transformation matrix C from the northeast geographic system of the day to the IMU measurement coordinate system is calculated by the rotation of the turntable sn Is that
C sn The corresponding gesture quaternion is
q fc ＝Aq(C sn ) (13)
Then the attitude estimation error deltaq of the inertial navigation algorithm on the satellite is
Wherein the method comprises the steps of
Representing a quaternion multiplication operation.
The position estimation error of the inertial navigation algorithm on the satellite is deltar=r nf The speed estimation error is Δv=v nf And thus, the large dynamic navigation test verification process of the Mars EDL process is completed.
Further, the method comprises the steps of,
in one possible implementation of this method,
in one possible implementation of the present invention,
alternatively to this, the method may comprise,
the present application provides a computer readable storage medium storing computer instructions that, when run on a computer, cause the computer to perform the method described in fig. 1.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
What is not described in detail in the present specification is a well known technology to those skilled in the art.
Claims (10)
1. A Mars EDL process large dynamic navigation test verification system is characterized in that: the system comprises a mathematical simulation computer, an IMU module, data acquisition equipment of the IMU module, a three-axis mechanical turntable, a control computer of the three-axis mechanical turntable, a satellite-borne computer and a ground computer;
the mathematical simulation computer is used for constructing a gesture dynamics model for simulating the gesture movement of the Mars EDL whole-process lander, calculating gesture change data of the Mars EDL whole-process lander in real time, and sending the gesture change data to the mechanical turntable control computer through the data interface module;
the three-axis mechanical turntable control computer generates a three-axis mechanical turntable control instruction according to the received attitude change data of the Mars EDL process lander and sends the three-axis mechanical turntable control instruction to the three-axis mechanical turntable;
the triaxial mechanical turntable carries the IMU module and performs triaxial rotation according to a control instruction of the triaxial mechanical turntable; the IMU module is fixedly arranged on the three-axis mechanical turntable, rotates along with the three-axis mechanical turntable, measures angular velocity information, and sends the acquired angular velocity information to the satellite-borne computer and the ground computer;
the spaceborne computer carries out inertial navigation calculation according to the angular velocity information and outputs attitude information of the inertial navigation calculation;
and the ground computer performs navigation calculation according to the angular velocity information, converts the angular velocity information into the attitude of the IMU module relative to the geographic system, obtains inertial navigation attitude determination errors by comparing the attitude information with the inertial navigation calculation, and realizes experimental verification of on-board inertial navigation.
2. The Mars EDL process large dynamic navigation test verification system of claim 1, wherein: the three-axis mechanical turntable control computer firstly receives an initial posture control mechanical turntable sent by the mathematical simulation computer through the data interface module to finish initial posture alignment; and then the three-axis mechanical turntable realizes the posture tracking of the Mars EDL process by tracking the three-axis angular velocity sent in real time by the mathematical simulation computer, acquires and records the three-axis angular velocity and the posture angle of the turntable according to a preset sampling period by using testing equipment matched with the turntable in the posture tracking process, and sends acquired data to a ground computer.
3. The Mars EDL process large dynamic navigation test verification system of claim 2, wherein, according to
And->
Calculating to obtain the IMU at the initial t of the test 0 The position, speed and posture at the moment finish the initial alignment; wherein (1)>
For the initial t of the test 0 Conversion matrix of IMU measurement coordinate system relative to inertial reference system when moment turntable is at zero position>
For the conversion matrix of IMU measurement coordinate system relative to IMU reference coordinate system,/for the conversion matrix of IMU measurement coordinate system>
For the transformation matrix of the IMU reference coordinate system relative to the turntable reference coordinate system when the turntable is in the zero position, +.>
C, converting matrix of the northeast geographic system of the turntable reference coordinate system relative to the test field nf Posture matrix from earth system to north-east geographic system, C fi Is an attitude matrix from an inertia system to a ground fixation system, R is the center distance of a test field, R is the local earth reference ellipsoid radius of the test field, h is the elevation of the test field, and R is e 、R p Is the semi-major axis and semi-minor axis of the earth reference ellipsoid, L c Is the geocentric latitude of the test site.
4. A Mars EDL process large dynamic navigation test verification system according to claim 1, wherein said inertial navigation solution comprises the steps of:
performing inertial navigation extrapolation calculation by using the received IMU module measurement data;
and converting the calculated posture of the IMU module relative to the inertial system and the position and speed under the inertial system into the geographic system of northeast of the world to finish the inertial navigation calculation.
5. The Mars EDL process large dynamic navigation test verification system of claim 1, wherein: the attitude dynamics model outputs three-axis angular velocity information of an IMU module measurement coordinate system relative to an inertial system in a Mars EDL process according to actual installation of the IMU module, and the three-axis mechanical turntable control computer calculates a three-axis mechanical turntable rotation instruction according to the installation relation between the IMU module and the three-axis mechanical turntable and the three-axis angular velocity of the IMU measurement coordinate system relative to the inertial system, which is given by the mathematical simulation computer, and drives the three-axis mechanical turntable to rotate so as to simulate the movement of the attitude in the Mars EDL process.
6. The Mars EDL process large dynamic navigation test verification system of claim 5, wherein: in the attitude dynamics model, the attitude dynamics equation of the Mars EDL process is that
Wherein: i S Is the moment of inertia; omega is the angular velocity of the detector relative to the inertial frame; m & lt/M & gt R Is an aerodynamic moment; m & lt/M & gt c Torque generated for the engine; m & lt/M & gt d Is a disturbance moment; m & lt/M & gt la Is the tension moment of the umbrella rope.
7. The method for verifying the Mars EDL process large dynamic navigation test realized by the Mars EDL process large dynamic navigation test verification system according to claim 1, which is characterized by comprising the following steps:
constructing an attitude dynamics model for simulating the attitude motion of the Mars EDL whole-process lander, calculating the attitude change data of the Mars EDL whole-process lander in real time, and sending the attitude change data to a mechanical turntable control computer through a data interface module;
the three-axis mechanical turntable control computer generates a three-axis mechanical turntable control instruction according to the received attitude change data of the Mars EDL process lander and sends the three-axis mechanical turntable control instruction to the three-axis mechanical turntable;
the IMU module on the triaxial mechanical turntable performs triaxial rotation according to the control instruction of the triaxial mechanical turntable; the IMU module is fixedly arranged on the three-axis mechanical turntable, rotates along with the three-axis mechanical turntable, measures angular velocity information, and sends the acquired angular velocity information to the satellite-borne computer and the ground computer;
the spaceborne computer carries out inertial navigation calculation according to the angular velocity information and outputs attitude information of the inertial navigation calculation;
the ground computer carries out navigation calculation according to the angular velocity information, converts the angular velocity information into the attitude of the IMU module relative to the geographic system, obtains inertial navigation attitude determination errors by comparing the attitude information with inertial navigation calculation, and realizes experimental verification of on-board inertial navigation.
8. The method for verifying the large dynamic navigation test of the Mars EDL process of claim 7, wherein the three-axis mechanical turntable control computer firstly receives the initial attitude control mechanical turntable sent by the mathematical simulation computer through the data interface module to complete initial attitude alignment; thirdly, the three-axis mechanical turntable realizes the posture tracking of the Mars EDL process through tracking the three-axis angular velocity sent by the mathematical simulation computer in real time, acquires and records the angular velocity and the posture angle of the three axes of the turntable through turntable matched test equipment according to a preset sampling period in the posture tracking process, and sends acquired data to a ground computer;
according to
And->
Calculating to obtain the IMU at the initial t of the test 0 The position, speed and posture at the moment finish the initial alignment; wherein (1)>
For the initial t of the test 0 Conversion matrix of IMU measurement coordinate system relative to inertial reference system when moment turntable is at zero position>
For the conversion matrix of IMU measurement coordinate system relative to IMU reference coordinate system,/for the conversion matrix of IMU measurement coordinate system>
For the transformation matrix of the IMU reference coordinate system relative to the turntable reference coordinate system when the turntable is in the zero position, +.>
C, converting matrix of the northeast geographic system of the turntable reference coordinate system relative to the test field nf Posture matrix from earth system to north-east geographic system, C fi Is an attitude matrix from an inertia system to a ground fixation system, R is the center distance of a test site, R is a local earth reference ellipsoid of the test site, h is the elevation of the test site, and R e 、R p Is the semi-major axis and semi-minor axis of the earth reference ellipsoid, L c The latitude of the center of the earth is the latitude of the center of the earth of the test site;
the inertial navigation solution comprises the following steps:
performing inertial navigation extrapolation calculation by using the received IMU module measurement data;
converting the calculated posture of the IMU module relative to the inertial system and the position and speed under the inertial system into the geographic system of northeast of the world to finish the inertial navigation calculation;
the attitude dynamics model outputs three-axis angular velocity information of an IMU module measurement coordinate system relative to an inertial system in a Mars EDL process according to actual installation of the IMU module, and the three-axis mechanical turntable control computer calculates a three-axis mechanical turntable rotation instruction according to the installation relation between the IMU module and the three-axis mechanical turntable and the three-axis angular velocity of the IMU measurement coordinate system relative to the inertial system, which is given by the mathematical simulation computer, and drives the three-axis mechanical turntable to rotate so as to simulate the attitude movement of the Mars EDL process;
in the attitude dynamics model, the attitude dynamics equation of the Mars EDL process is that
Wherein: i S Is the moment of inertia; omega is the angular velocity of the detector relative to the inertial frame; m & lt/M & gt R Is an aerodynamic moment; m & lt/M & gt c Torque generated for the engine; m & lt/M & gt d Is a disturbance moment; m & lt/M & gt la Is the tension moment of the umbrella rope.
9. A computer readable storage medium storing a computer program, which when executed by a processor performs the steps of the method according to any one of claims 7 to 8.
10. A Mars EDL process large dynamic navigation test verification device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: the processor, when executing the computer program, performs the steps of the method according to any one of claims 7 to 8.
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