CN115355915B - Star viewing sequence planning method for satellite direction vector navigation - Google Patents

Star viewing sequence planning method for satellite direction vector navigation Download PDF

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CN115355915B
CN115355915B CN202211276164.8A CN202211276164A CN115355915B CN 115355915 B CN115355915 B CN 115355915B CN 202211276164 A CN202211276164 A CN 202211276164A CN 115355915 B CN115355915 B CN 115355915B
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star
sequence
satellite
viewing
observation
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CN115355915A (en
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郑伟
李钊
王奕迪
张士峰
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National University of Defense Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—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
    • G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means

Abstract

The invention provides a star viewing sequence planning method for satellite direction vector navigation, which comprises the following steps: primarily selecting an observation object based on satellite visibility; constructing an expression of the star-watching sequence based on the primary selection result; selecting a determinant of the Fisher information matrix as an optimization index function of the star-viewing sequence; and calculating index values of different star viewing sequences by adopting an optimization index function, and selecting the star viewing sequence with the maximum index value as an optimal star viewing sequence. The invention provides a sight star sequence planning method based on observability, which adopts an index function based on a Fisher information matrix to preferentially select a sight star sequence, thereby improving the navigation precision of a star sensor for observing a known satellite. The invention adopts the Fisher information matrix to realize the selection of the observation object, realizes the optimal star observation sequence for the aircraft under the condition of fully considering the motion of the aircraft, and effectively improves the navigation precision of the existing star observation selection method.

Description

Star viewing sequence planning method for satellite direction vector navigation
Technical Field
The invention relates to the technical field of navigation, in particular to a star viewing sequence planning method for satellite direction vector navigation.
Background
The satellite direction vector navigation means that the aircraft observes the catalogued satellite by using the star sensor, obtains the direction vector of the satellite relative to the star sensor and determines the motion state of the aircraft according to the direction vector. The information source of the navigation method is a catalogued space target, and the navigation method has the advantages of large quantity and wide distribution, so that the navigation method can provide services in the global range. In addition, the optical signals of the satellite are not easily interfered, so that the navigation method has strong autonomy. Therefore, the navigation method can be used for autonomous navigation tasks of spacecrafts and near space vehicles.
When the aircraft carries a single-view field star sensor, the satellite direction vector navigation requires the star sensor to observe different satellites in different time intervals in order to ensure the navigation performance. Chinese patent application CN202110484592.9 discloses a satellite positioning navigation method based on artificial satellites, in which the selection of observation objects is completed by calculating the geometric precision factor of position. However, the position geometry factor adopted in the application can only be applied to the selection of the observation object at a single moment, and the star selection index cannot plan an optimal star viewing sequence under the condition of considering the motion of the aircraft.
For satellite direction vector navigation, the selection of an observation object directly affects the navigation accuracy of the satellite direction vector navigation method. Therefore, in order to plan an optimal star viewing sequence, corresponding index functions must be proposed taking into account the aircraft motion.
In view of the above, there is a need for a satellite viewing sequence planning method for satellite direction vector navigation to solve the problems in the prior art.
Disclosure of Invention
The invention aims to provide a star viewing sequence planning method for satellite direction vector navigation, which aims to solve the problem of low navigation precision caused by selection of an observation object under the condition of not considering the motion of an aircraft in the conventional star viewing selection method, and the specific technical scheme is as follows:
a star viewing sequence planning method for satellite direction vector navigation comprises the following steps:
step S1: primarily selecting an observation object based on satellite visibility;
step S2: constructing an expression of the star-watching sequence based on the primary selection result;
and step S3: selecting a determinant of the Fisher information matrix as an optimization index function of the star-viewing sequence;
and step S4: and calculating index values of different star viewing sequences by adopting an optimization index function, and selecting the star viewing sequence with the maximum index value as an optimal star viewing sequence.
Preferably, in the above technical solution, the step S1 specifically includes: and judging whether the satellite is visible or not in the cataloged satellite database according to the position of the star sensor and observation constraint, and selecting the visible satellite.
Preferably, in the above technical solution, the observation constraint includes sunlight interference, earth blocking, earth shadow region, star sensor detection distance, and relative angular velocity of the star sensor and the observation object.
Preferably, in the above technical solution, the step S2 of constructing the expression of the spectacular star-like sequence is specifically:
setting a star sensor carried by an aircraft to carry outMContinuous observation of individual moments, which are then divided intoNSegments, the observation object in each segment of observation is
Figure 205493DEST_PATH_IMAGE001
Each observation period is->
Figure 559114DEST_PATH_IMAGE002
Wherein->
Figure 622885DEST_PATH_IMAGE003
(ii) a Then look at the star sequencePThe expression of (a) is:
Figure 556206DEST_PATH_IMAGE004
（1）。
preferably, in the above technical solution, the optimization index function in step S3 is specifically as follows:
Figure 21823DEST_PATH_IMAGE005
（2），
Figure 546345DEST_PATH_IMAGE006
（3），
wherein the content of the first and second substances,Fthe Fisher information matrix is represented by a matrix of Fisher information,Jas an index value, a value of,
Figure 35095DEST_PATH_IMAGE007
represents the trace of the evaluation matrix>
Figure 834424DEST_PATH_IMAGE008
Is composed ofkThe measured variance of the time of day,Mfor the last observation moment in the star-look sequence, is greater or lesser>
Figure 888967DEST_PATH_IMAGE009
For the state of motion of the aircraftkAt the moment of time toMThe state transition matrix of the instant>
Figure 787653DEST_PATH_IMAGE010
Is composed ofkA measurement matrix of time instants.
Preferably, in the above technical solution, in formula (3):
Figure 826016DEST_PATH_IMAGE011
（4），
wherein, the first and the second end of the pipe are connected with each other,
Figure 101140DEST_PATH_IMAGE012
is composed ofkThe distance between the object and the star sensor is observed at any moment>
Figure 275769DEST_PATH_IMAGE013
Is composed ofkThe direction vector of the moment observation object relative to the star sensor is based on>
Figure 407673DEST_PATH_IMAGE014
Is a 3 x 3 unit matrix, is present>
Figure 605437DEST_PATH_IMAGE015
Is a zero matrix of 3 x 3.
Preferably, in the above technical solution, in the step S4, an intelligent optimization method is adopted for different star observing sequences to obtain an optimal star observing sequence with a maximum index value.
The technical scheme of the invention has the following beneficial effects:
the invention provides a sight star sequence planning method based on observability, which adopts an index function based on a Fisher information matrix to preferentially select a sight star sequence, thereby improving the navigation precision of a star sensor for observing a known satellite. The invention adopts the Fisher information matrix to realize the selection of the observation object, realizes the optimal star observation sequence for the aircraft under the condition of fully considering the motion of the aircraft, and effectively improves the navigation precision of the existing star observation selection method.
In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a method for planning a satellite-viewing sequence for satellite direction vector navigation;
FIG. 2 is a schematic diagram of the results of the positioning of an aircraft in a simulation application case.
Detailed Description
In order that the invention may be more fully understood, a more particular description of the invention will now be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Example 1:
referring to fig. 1, a star viewing sequence planning method for satellite direction vector navigation, in particular to a star viewing sequence planning method based on a Fisher information matrix, comprising the following steps:
step S1: primarily selecting an observation object based on satellite visibility;
the step S1 is specifically: in the cataloged satellite database, whether the satellite is visible or not is judged according to the position of the star sensor and observation constraint, and the visible satellite is selected, and the specific judgment method is known by people in the field. Further, in this embodiment, the observation constraint includes sunlight interference, earth blocking, earth shadow area, star sensor detection distance, and relative angular velocity of the star sensor and the observation object.
Step S2: constructing an expression of the star observation sequence based on the primary selection result;
further, the specific expression for constructing the star-watching sequence is as follows: setting star sensors carried by aircraft to carry outMSuccessive observations at a time, thenMDivision of successive observations at a timeNSegments, the observation object in each segment of observation is
Figure 746568DEST_PATH_IMAGE016
Each observation period is->
Figure 713387DEST_PATH_IMAGE017
Wherein->
Figure 281772DEST_PATH_IMAGE018
(ii) a Then look at the star sequencePThe expression of (a) is:
Figure 763568DEST_PATH_IMAGE019
（1）。
in particular, wherein
Figure 380495DEST_PATH_IMAGE016
Selected from the satellites available after the initial selection in step S1>
Figure 526787DEST_PATH_IMAGE016
Is indicated to be at>
Figure 493DEST_PATH_IMAGE017
The satellite observed in time, the optional ranges for each variable in equation (1) are given by the visibility analysis in step S1. Further, look at the star sequencePAll of them shareNAnd observing the object.
And step S3: selecting a determinant of a Fisher information matrix (namely a Fisher information matrix) as an optimization index function of the star-viewing sequence;
preferably, the optimization index function in step S3 is specifically as follows:
Figure 172849DEST_PATH_IMAGE020
（2），
Figure 655782DEST_PATH_IMAGE021
（3），
Figure 597194DEST_PATH_IMAGE022
（4），
wherein the content of the first and second substances,Fthe Fisher information matrix is represented by a matrix of Fisher information,Jas an index value, a value of,
Figure 507381DEST_PATH_IMAGE024
indicates that the evaluation matrix has a trace, a->
Figure 963770DEST_PATH_IMAGE025
Is composed ofkThe measured variance of the time of day,Mfor the last observation in the star-look sequence, in>
Figure 922499DEST_PATH_IMAGE026
For the state of motion of the aircraft fromkIs timed toMStatus transition matrix of time instant>
Figure 46313DEST_PATH_IMAGE027
Is composed ofkThe measurement matrix of the instant in time->
Figure 799505DEST_PATH_IMAGE029
Is composed ofkThe distance from the object to the star sensor is observed at any moment,
Figure 743190DEST_PATH_IMAGE031
is composed ofkDirection vector of the moment observation object relative to the star sensor, based on the star sensor and the position of the star sensor>
Figure 567927DEST_PATH_IMAGE032
Is a 3 x 3 unit matrix, is present>
Figure 483930DEST_PATH_IMAGE033
Is a zero matrix of 3 x 3.
And step S4: and calculating index values of different star viewing sequences by adopting an optimization index function, and selecting the star viewing sequence with the maximum index value as an optimal star viewing sequence.
And after the expression of the star observing sequence is confirmed, the index value of the star observing sequence can be calculated by optimizing the index function. Preferably, in this embodiment, in step S4, an intelligent optimization method is used for different star observation sequences to obtain an optimal star observation sequence with a maximum index value, for example, a genetic algorithm, a particle swarm algorithm, or a simulated annealing algorithm may be used; the search efficiency of the optimal star viewing sequence can be improved by adopting an intelligent optimization method. The skilled person knows that finding the optimal star viewing sequence by using the intelligent optimization method is only one way, and the skilled person may also find the optimal star viewing sequence according to the index values of different star viewing sequences by using other existing ways (for example, a way of sorting the index values from small to large may be used).
The embodiment also provides a simulation application case of the planning method, which is specifically as follows:
(1) Simulation conditions
The initial position of the aircraft is supposed to be [ -4397.65km [ -4091.42km; -2652.72km ], the initial speed is [ -6.139km/s; 3.489 km/s; 2.262km/s ], the initial position error is [ -50 km; 50km; 50km ], and the initial speed error is [ -5 m/s; 5m/s; 5m/s ]. The angle measurement error of the star sensor carried by the aircraft is 0.5 arc second, and the errors of the satellite ephemeris triaxial positions are all 50m. The star sensor performs three-stage observation, each stage of observation lasts for 50s, and the number of the initial orbits of the alternative observation objects is shown in table 1.
TABLE 1 initial number of orbits of alternative observed objects
Figure 735920DEST_PATH_IMAGE034
In table 1:ais a semi-major axis;eis the eccentricity;iis the track inclination angle; omega is the red meridian of the ascending crossing point;ωis latitude argument of perigee;fis a true proximal angle.
(2) Simulation result
The aircraft positioning result is shown in fig. 2, and it can be seen from the figure that the position estimation error can be effectively reduced by adopting the planning method of the embodiment, which shows that the navigation precision can be effectively improved by searching the optimal star viewing sequence.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. A star viewing sequence planning method for satellite direction vector navigation is characterized by comprising the following steps:
step S1: primarily selecting an observation object based on satellite visibility;
step S2: constructing an expression of the star observation sequence based on the primary selection result;
and step S3: selecting a determinant of the Fisher information matrix as an optimization index function of the star-viewing sequence;
and step S4: calculating index values of different star viewing sequences by adopting an optimization index function, and selecting the star viewing sequence with the maximum index value as an optimal star viewing sequence;
the step S2 of constructing the expression of the star-watching sequence is specifically as follows:
setting star sensor carried by aircraft to continuously observe at M times, and dividing the star sensor into N sections, wherein the observation object in each section is s i Each observation period is t i Wherein i =1,2, \8230, N; the expression of the star-viewing sequence P is:
P＝{(s 1 t 1 ),(s 2 t 2 ),…,(s N t N ),} (1)，
the optimization index function in step S3 is specifically as follows:
J＝trace(F) (2)，
Figure FDA0004023267500000011
wherein F represents a Fisher information matrix, J is an index value, trace (·) represents the trace of the matrix,
Figure FDA0004023267500000012
is the measured variance at time k, M is the last observation time in the star-watching sequence, phi k,M For the state transition matrix of the aircraft motion state from time k to time M, H k Is the measurement matrix at time k.
2. The star viewing sequence planning method for satellite direction vector navigation according to claim 1, wherein the step S1 specifically comprises: and judging whether the satellite is visible or not in the cataloged satellite database according to the position of the star sensor and observation constraint, and selecting the visible satellite.
3. The method of claim 2, wherein the observation constraints include solar interference, earth occlusion, earth shadow regions, star sensor probe distances, and relative angular velocities of the star sensor and the observed object.
4. The method for planning a satellite viewing sequence for vector navigation of satellite directions according to claim 1, wherein in formula (3):
Figure FDA0004023267500000021
where ρ is k For the distance from the observation object to the star sensor at time k, n k For the direction vector of the observed object at time k relative to the star sensor, I 3×3 Is a 3 × 3 identity matrix, 0 3×3 Is a zero matrix of 3 x 3.
5. The star viewing sequence planning method for satellite direction vector navigation according to claim 1, wherein in step S4, an intelligent optimization method is applied to different star viewing sequences to obtain an optimal star viewing sequence with a maximum index value.
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