CN115479605A - High-altitude long-endurance unmanned aerial vehicle autonomous navigation method based on space target directional observation - Google Patents

High-altitude long-endurance unmanned aerial vehicle autonomous navigation method based on space target directional observation Download PDF

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CN115479605A
CN115479605A CN202211018029.3A CN202211018029A CN115479605A CN 115479605 A CN115479605 A CN 115479605A CN 202211018029 A CN202211018029 A CN 202211018029A CN 115479605 A CN115479605 A CN 115479605A
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carrier
attitude
representing
estimator
observation
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熊凯
郭建新
张斌
魏春岭
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Beijing Institute of Control Engineering
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Beijing Institute of Control Engineering
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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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras

Abstract

An autonomous navigation method of an unmanned aerial vehicle during high-altitude long-endurance based on space target directional observation is characterized in that a directional observation star camera and an inertia measurement unit are configured on the unmanned aerial vehicle during high-altitude long-endurance, measurement information of a star calendar known space target and a background star on an earth orbit is obtained through the directional observation star camera, and the sight line direction of the space target in an inertia coordinate system is obtained through calculation by processing observation data of the space target and the background star; meanwhile, a processing mode similar to a star sensor is adopted, and a fixed star on the celestial sphere is taken as a reference to determine the posture of the carrier; and then, the carrier motion state extrapolation calculation is carried out by combining the inertial measurement unit, the observed quantity of the space target and the fixed star sight line direction on a time sequence is processed through an extended Kalman filter, the inertial measurement unit is corrected, and the estimated values of the position, the speed and the posture of the unmanned aerial vehicle are obtained. The invention can open up a new way for the autonomous navigation of the unmanned aerial vehicle during high-altitude long voyage, and has higher application value in the future informationized battlefield.

Description

High-altitude long-endurance unmanned aerial vehicle autonomous navigation method based on space target directional observation
Technical Field
The invention relates to an autonomous navigation method of an unmanned aerial vehicle during high-altitude long endurance based on space target directional observation, and belongs to the technical field of navigation guidance.
Background
The high-altitude long-endurance unmanned aerial vehicle requires that a navigation system effectively and reliably works in the whole day with the height of 20km for more than 8 hours, determines the position and attitude information of a platform, solves the problem of long-endurance autonomous navigation of the unmanned aerial vehicle in a GNSS (global navigation satellite system) refused environment, and has the advantages of high precision, high reliability, miniaturization, low power consumption and the like.
In modern information-based combat environments, navigation information plays a crucial role in whether a combat intention can be achieved. Currently, a satellite navigation system using GNSS satellites as information nodes has become an important navigation information source. However, the existing satellite navigation systems have poor anti-jamming capability and autonomy, so that radio signals are easily interfered or deceived on one hand, and on the other hand, ground facilities, transmission channels and space systems are easily attacked, so that the application of the satellite navigation systems under specific conditions is limited, and particularly the high-precision navigation capability under a confronting environment is greatly restricted. Once the condition that can't provide service because of reasons such as system fault, signal interference appear, will cause the great influence to unmanned aerial vehicle executive task.
Conventional navigation approaches for replacing or assisting GNSS include Inertial Navigation Systems (INS), astronomical navigation systems (CNS), map/scene matching navigation, etc., which, despite years of development, have limitations in long-term navigation, signal occlusion, or no typical landmark features.
An Inertial Navigation System (INS) works according to the basic attribute of a mass body, does not depend on external information and does not radiate information outwards, can autonomously and covertly carry out continuous three-dimensional space positioning and three-dimensional space orientation in a global range under all weather conditions by only the system, can reflect the maneuvering motion of a carrier in time, and is navigation equipment necessary for important carriers. However, the errors of the inertial navigation system accumulate over time, and for long-endurance aircraft, the accumulated errors need to be corrected by means of other navigation information sources. An astronomical navigation system (CNS) realizes navigation and positioning by measuring the vector direction of a natural celestial body relative to a carrier, an inertial reference system formed by fixed stars has high accuracy and reliability, and the astronomical navigation system has the advantages of high measurement accuracy, strong anti-interference capability, relatively low cost, no time accumulation of navigation errors and the like, so that the astronomical navigation system occupies an important position. The method combines inertial navigation and astronomical navigation modes, utilizes a star sensor to directly sense a fixed star and is used as a drift-free gyroscope to realize the attitude error calibration of the aircraft, and is a typical technical means for implementing the autonomous navigation of the aircraft in long-distance flight. However, the conventional inertial/astronomical combined navigation still cannot change the trend that the navigation positioning error increases gradually along with the increase of time due to the influence of error factors such as zero offset of the accelerometer. The map matching and scene navigation methods are difficult to function effectively in environments without typical landmark features, such as when the carrier flies in sea or desert regions.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the high-altitude long-endurance unmanned aerial vehicle autonomous navigation method based on space target directional observation is provided aiming at the problem that the traditional autonomous navigation mode, such as inertial navigation and astronomical navigation, is often difficult to meet the high-precision autonomous navigation requirement of an unmanned aerial vehicle in a GNSS signal rejection environment during long endurance, the spatial position and the spatial target with the known motion rule are taken as the reference, the inertial navigation technology is combined, the position, the speed and the attitude information of a carrier can be determined through combined navigation resolving, and the method has wide application prospect in various aircraft platforms and has important value.
The technical solution adopted by the invention is as follows:
an autonomous navigation method of an unmanned aerial vehicle during high-altitude long endurance based on space target directional observation comprises the following steps:
(1) Initializing a carrier attitude estimator and a position and speed estimator, and setting initial values of state vectors representing carrier position, speed and attitude information;
(2) Imaging observation is carried out on the fixed star through a directional observation star camera configured on the high-altitude long-endurance unmanned aerial vehicle, observation quantity of sight direction of the fixed star in a carrier coordinate system is obtained, and observation quantity of a carrier attitude estimator is constructed;
(3) Predicting the attitude of the carrier according to observation data of a gyroscope in an inertial measurement unit configured on the high-altitude long-endurance unmanned aerial vehicle;
(4) Under the condition that the fixed star sight direction observed quantity of the directional observation star camera is available, processing the observed quantity obtained in the step (2) through a carrier attitude estimator, and correcting the predicted value of the carrier attitude obtained in the step (3);
(5) Simultaneously photographing and observing a space target and a background fixed star through a directional observation star camera configured on the high-altitude long-endurance unmanned aerial vehicle, and obtaining a space target sight line direction observed quantity in an inertial coordinate system according to a geometric position relation of an image of the space target in the directional observation star camera relative to an image of the background fixed star;
(6) Predicting the position and the speed of the carrier according to observation data of an accelerometer in an inertial measurement unit configured on the high-altitude long-endurance unmanned aerial vehicle and an earth gravitational field model;
(7) Under the condition that the observed quantity of the space target sight line direction is available, processing the observed quantity obtained in the step (5) through a position and speed estimator, and correcting the predicted values of the position and the speed of the carrier obtained in the step (6);
(8) And (5) repeating the steps (2) to (7) to obtain estimated values of the position, the speed and the attitude of the carrier, thereby completing the autonomous navigation of the high-altitude long-endurance unmanned aerial vehicle based on the space target directional observation.
Further, the method for initializing the carrier attitude estimator in step (1) comprises: setting initial time (k = 0) carrier attitude quaternion and estimated values of gyroscope drift as
Figure BDA0003812952920000031
And
Figure BDA0003812952920000032
the above-mentioned
Figure BDA0003812952920000033
And
Figure BDA0003812952920000034
from a priori knowledge about carrier attitude and gyroscopeObtaining; the method for initializing the position and speed estimator comprises the following steps: setting the initial filtering estimated value of the position and speed estimator as follows:
Figure BDA0003812952920000035
wherein the content of the first and second substances,
Figure BDA0003812952920000036
and
Figure BDA0003812952920000037
respectively representing the position and the velocity vector estimated value of the carrier in the inertial coordinate system at the initial moment,
Figure BDA0003812952920000038
represents an accelerometer zero-offset estimate at an initial time, said
Figure BDA0003812952920000039
From a priori knowledge about the carrier position, velocity and accelerometer.
Further, the observed quantity of the carrier attitude estimator constructed in the step (2) is as follows:
Figure BDA00038129529200000310
wherein the content of the first and second substances,
Figure BDA00038129529200000311
and
Figure BDA00038129529200000312
respectively represents the observed quantity and the estimated value of the jth star sight line direction in a carrier coordinate system at the k time (k =1,2, …),
Figure BDA00038129529200000313
is obtained by the measurement of a directional observation star camera,
Figure BDA00038129529200000314
and calculating according to a fixed star table and a carrier attitude quaternion estimated value which are established in advance.
Further, the method for predicting the posture of the carrier in the step (3) comprises the following steps: the quaternion predicted value of the carrier attitude at the k moment is calculated according to the following formula
Figure BDA0003812952920000041
Wherein the content of the first and second substances,
Figure BDA0003812952920000042
Figure BDA0003812952920000043
Figure BDA0003812952920000044
representing the observed quantity of the carrier three-axis attitude angular velocity compensated by the drift of the gyroscope, and the method for compensating the drift of the gyroscope comprises the following steps
Figure BDA0003812952920000045
Figure BDA0003812952920000046
Representing the attitude angular velocity of the carrier measured by a gyroscope in an inertial measurement unit at the moment k-1,
Figure BDA0003812952920000047
an estimated value representing the gyroscope drift at the time k-1; tau. A Representing the time step of one-step prediction in the carrier attitude estimator.
Further, the method for correcting the predicted value of the attitude of the carrier in the step (4) is that
Figure BDA0003812952920000048
Figure BDA0003812952920000049
Figure BDA00038129529200000410
And
Figure BDA00038129529200000411
respectively representing the carrier attitude quaternion and the estimated value of the gyroscope drift at the moment k,
Figure BDA00038129529200000412
an estimate representing the quaternion of the attitude error of the carrier at time k can be written as
Figure BDA00038129529200000413
Figure BDA00038129529200000414
Partial estimation value of vector representing quaternion of attitude error of carrier at k moment, element
Figure BDA00038129529200000415
Satisfies the normalization condition
Figure BDA00038129529200000416
(symbol)
Figure BDA00038129529200000417
Representing quaternion multiplication. Vector partial estimate of carrier attitude error quaternion
Figure BDA00038129529200000418
And gyroscope drift error estimate
Figure BDA00038129529200000419
Is calculated by the formula
Figure BDA00038129529200000420
K A,k The filter gain array representing the carrier attitude estimator can be obtained by calculation according to a carrier attitude estimation system model established in advance.
Further, the observed quantity of the direction of the target sight line in the space in the inertial coordinate system in the step (5) is
Figure BDA0003812952920000051
Wherein the content of the first and second substances,
Figure BDA0003812952920000052
the observation quantity of the sight direction of the ith space target in the inertial coordinate system is measured by a directional observation satellite camera, and the space target can be selected from earth orbit satellites with known ephemeris, such as GNSS (global navigation satellite system) satellites or Starlink satellites.
Further, the method for predicting the position and the speed of the carrier in the step (6) comprises the following steps: the predicted value of the k-time position and velocity estimator is calculated according to the following formula
Figure BDA0003812952920000053
State transfer function
Figure BDA0003812952920000054
In the form of
Figure BDA0003812952920000055
Wherein, f I,k The specific force in the inertial coordinate system is expressed by the calculation formula
Figure BDA0003812952920000056
f B,k Is a specific force and a matrix in a carrier coordinate system measured by an accelerometer
Figure BDA0003812952920000057
Representing an attitude transformation matrix from an inertial coordinate system to a carrier coordinate system, based on an estimate of the carrier attitude quaternion
Figure BDA0003812952920000058
Is calculated to obtain
Figure BDA0003812952920000059
Wherein the content of the first and second substances,
Figure BDA00038129529200000510
Figure BDA00038129529200000511
Figure BDA00038129529200000512
representing the acceleration of gravity, which can be calculated according to the gravitational field model of the earth P Representing the time step of one-step prediction in the position and velocity estimator.
Further, the method for correcting the predicted values of the position and the speed of the carrier in the step (7) is that
Figure BDA0003812952920000061
Wherein the content of the first and second substances,
Figure BDA0003812952920000062
representing the filtered estimate of the position-velocity estimator at time K, K P,k The filter gain array representing the position and velocity estimator can be obtained by calculation according to a position and velocity estimation system model established in advance and is an observation function
Figure BDA0003812952920000063
In the form of
Figure BDA0003812952920000064
Wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003812952920000065
the position vector of the ith space target can be calculated according to the known space target ephemeris,
Figure BDA0003812952920000066
is composed of
Figure BDA0003812952920000067
Prediction of the middle carrier position.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention integrates the functions of positioning and attitude determination based on the directional observation star camera, can determine the position of the carrier by depending on the measurement information of the sight direction of the space target, determines the attitude of the carrier by measuring star light of a fixed star, and can use the space target with known motion law on the celestial sphere and meeting the sensitivity requirement as the observation target.
(2) The accurate measurement of the space target sight direction is easy to realize by the prior art: compared with a large-field-of-view camera for sensitive horizon, the method has the advantages that the measurement precision is easily improved by a small-field-of-view long-focus optical system design technology; compared with navigation modes such as earth landmark measurement and the like, the navigation method is relatively less influenced by factors such as weather, cloud layers, terrain and the like, and the star point information is easier to detect and identify compared with the earth landmark.
(3) The autonomous navigation mode based on the space target directional observation has the characteristics of strong concealment, no electromagnetic interference influence, safety, reliability and the like, can achieve the navigation precision of hundred meters, is favorable for solving the problems caused by the inherent vulnerability of a GNSS and an astronomical navigation system, and provides a steady navigation positioning service for users.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a graph of carrier position estimation error based on spatial target-oriented observations;
FIG. 3 is a graph of carrier velocity estimation error based on spatial target-oriented observation;
fig. 4 is a carrier attitude estimation error plot based on spatial target orientation observations.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
The invention provides an autonomous navigation method of an unmanned aerial vehicle during high-altitude long endurance, which aims at solving the problem that the unmanned aerial vehicle during high-altitude long endurance lacks a high-precision full autonomous navigation means. Compared with the navigation mode based on radio beacons such as the traditional GNSS, the unmanned aerial vehicle has the advantages of passive detection, good concealment, no electromagnetic interference influence, autonomous working and the like, can realize autonomous navigation in a long-endurance, high-precision and global range, and enhances the autonomous GNC capability of the unmanned aerial vehicle platform in a high-altitude long-endurance.
The invention provides a high-altitude long-endurance unmanned aerial vehicle autonomous navigation method based on space target directional observation, which comprises the following steps as shown in figure 1:
(1) Initializing a carrier attitude estimator and a position and speed estimator, and setting initial values of state vectors representing carrier position, speed and attitude information; the method for initializing the carrier attitude estimator comprises the following steps: setting initial time (k = 0) carrier attitude quaternionAnd the estimated values of the gyro drift are respectively
Figure BDA0003812952920000071
And
Figure BDA0003812952920000072
the above-mentioned
Figure BDA0003812952920000073
And
Figure BDA0003812952920000074
obtaining from prior knowledge about carrier attitude and gyroscope; the method for initializing the position and speed estimator comprises the following steps: setting the initial filtering estimation value of the position and speed estimator as:
Figure BDA0003812952920000075
wherein the content of the first and second substances,
Figure BDA0003812952920000076
and
Figure BDA0003812952920000077
respectively representing the position and the velocity vector estimated value of the carrier in the inertial coordinate system at the initial moment,
Figure BDA0003812952920000078
represents an accelerometer zero-offset estimate at an initial time, said
Figure BDA0003812952920000079
From a priori knowledge about the carrier position, velocity and accelerometer.
(2) Imaging observation is carried out on the fixed star through a directional observation star camera configured on the high-altitude long-endurance unmanned aerial vehicle, observation quantity of sight direction of the fixed star in a carrier coordinate system is obtained, and observation quantity of a carrier attitude estimator is constructed; the observed quantity of the constructed carrier attitude estimator is as follows:
Figure BDA0003812952920000081
wherein the content of the first and second substances,
Figure BDA0003812952920000082
and
Figure BDA0003812952920000083
respectively represents the observed quantity and the estimated value of the jth star sight line direction in a carrier coordinate system at the k time (k =1,2, …),
Figure BDA0003812952920000084
is obtained by the measurement of a directional observation star camera,
Figure BDA0003812952920000085
and calculating according to a fixed star table and a carrier attitude quaternion estimated value which are established in advance.
(3) Predicting the attitude of the carrier according to observation data of a gyroscope in an inertial measurement unit configured on the high-altitude long-endurance unmanned aerial vehicle; the method for predicting the posture of the carrier comprises the following steps: the predicted value of the carrier attitude quaternion at the moment k is calculated according to the following formula
Figure BDA0003812952920000086
Wherein the content of the first and second substances,
Figure BDA0003812952920000087
Figure BDA0003812952920000088
Figure BDA0003812952920000089
representing carrier triaxial attitude compensated for gyroscope driftThe observed amount of angular velocity and the method for compensating the drift of the gyroscope comprise
Figure BDA00038129529200000810
Figure BDA00038129529200000811
Representing the attitude angular velocity of the carrier measured by a gyroscope in the inertial measurement unit at the moment k-1,
Figure BDA00038129529200000812
an estimated value representing gyroscope drift at the time k-1; tau. A Representing the time step of one-step prediction in the carrier attitude estimator.
(4) Under the condition that the fixed star sight direction observed quantity of the directional observation star camera is available, processing the observed quantity obtained in the step (2) through a carrier attitude estimator, and correcting the predicted value of the carrier attitude obtained in the step (3); the method for correcting the predicted value of the attitude of the carrier comprises the following steps
Figure BDA0003812952920000091
Figure BDA0003812952920000092
Figure BDA0003812952920000093
And
Figure BDA0003812952920000094
respectively representing the carrier attitude quaternion and the estimated value of the gyroscope drift at the moment k,
Figure BDA0003812952920000095
an estimate representing the quaternion of the attitude error of the carrier at time k can be written as
Figure BDA0003812952920000096
Figure BDA0003812952920000097
Partial estimation value of vector representing quaternion of attitude error of carrier at k moment, element
Figure BDA0003812952920000098
Satisfies the normalization condition
Figure BDA0003812952920000099
(symbol)
Figure BDA00038129529200000910
Representing a quaternion multiplication. Vector partial estimate of carrier attitude error quaternion
Figure BDA00038129529200000911
And gyroscope drift error estimate
Figure BDA00038129529200000912
Is calculated by the formula
Figure BDA00038129529200000913
K A,k The filter gain array representing the carrier attitude estimator can be obtained by calculation according to a carrier attitude estimation system model established in advance.
(5) Simultaneously photographing and observing a space target and a background fixed star through an directional observation star camera configured on the high-altitude long-endurance unmanned aerial vehicle, and obtaining the space target sight direction observed quantity in an inertial coordinate system according to the geometric position relation of the imaging of the space target in the directional observation star camera relative to the imaging of the background fixed star; the observed amount of the spatial target sight line direction in the inertial coordinate system is
Figure BDA00038129529200000914
Wherein the content of the first and second substances,
Figure BDA00038129529200000915
the observation quantity of the sight direction of the ith space target in the inertial coordinate system is measured by a directional observation satellite camera, and the space target can be selected from earth orbit satellites with known ephemeris, such as GNSS (global navigation satellite system) satellites or Starlink satellites.
(6) Predicting the position and the speed of the carrier according to observation data of an accelerometer in an inertial measurement unit configured on the high-altitude long-endurance unmanned aerial vehicle and an earth gravitational field model; the method for predicting the position and the speed of the carrier comprises the following steps: the predicted value of the k-time position and velocity estimator is calculated according to the following formula
Figure BDA0003812952920000101
Function of state transition
Figure BDA0003812952920000102
In the form of
Figure BDA0003812952920000103
Wherein f is I,k The specific force in the inertial coordinate system is expressed by the calculation formula
Figure BDA0003812952920000104
f B,k Is the specific force and matrix in the carrier coordinate system measured by the accelerometer
Figure BDA0003812952920000105
Representing an attitude transformation matrix from an inertial coordinate system to a carrier coordinate system, based on an estimate of the carrier attitude quaternion
Figure BDA0003812952920000106
Is calculated to obtain
Figure BDA0003812952920000107
Wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003812952920000108
Figure BDA0003812952920000109
Figure BDA00038129529200001010
representing the acceleration of gravity, calculated from the model of gravitational field, τ P Representing the time step of one-step prediction in the position and velocity estimator.
(7) Under the condition that the observed quantity of the space target sight line direction is available, processing the observed quantity obtained in the step (5) through a position and speed estimator, and correcting the predicted values of the position and the speed of the carrier obtained in the step (6); the method for correcting the predicted values of the position and the speed of the carrier comprises
Figure BDA00038129529200001011
Wherein the content of the first and second substances,
Figure BDA00038129529200001012
representing the filtered estimate of the position-velocity estimator at time K, K P,k The filter gain array representing the position and velocity estimator can be obtained by calculation according to a position and velocity estimation system model established in advance and is an observation function
Figure BDA00038129529200001013
In the form of
Figure BDA0003812952920000111
Wherein the content of the first and second substances,
Figure BDA0003812952920000112
the position vector of the ith space target can be calculated according to the known space target ephemeris,
Figure BDA0003812952920000113
is composed of
Figure BDA0003812952920000114
Prediction of the middle carrier position.
(8) And (4) repeating iteration from the step (2) to the step (7) to obtain estimated values of the position, the speed and the attitude of the carrier, so that the autonomous navigation of the high-altitude long-endurance unmanned aerial vehicle based on the space target directional observation is completed.
Further, the invention also provides an autonomous navigation system of the high-altitude long-endurance unmanned aerial vehicle based on space target directional observation, which comprises:
an initialization module: initializing a carrier attitude estimator and a position and speed estimator, and setting initial values of state vectors representing carrier position, speed and attitude information;
an observed quantity construction module of the carrier attitude estimator: imaging observation is carried out on the fixed star through a directional observation star camera configured on the high-altitude long-endurance unmanned aerial vehicle, observation quantity of sight direction of the fixed star in a carrier coordinate system is obtained, and observation quantity of a carrier attitude estimator is constructed;
a carrier attitude prediction module: predicting the attitude of the carrier according to observation data of a gyroscope in an inertial measurement unit configured on the high-altitude long-endurance unmanned aerial vehicle;
the carrier attitude predicted value correction module: under the condition that the fixed star sight direction observed quantity of the directional observation star camera is available, the observed quantity is processed through the carrier attitude estimator, and the predicted value of the carrier attitude is corrected;
the space target sight line direction observed quantity calculation module: simultaneously photographing and observing a space target and a background fixed star through an directional observation star camera configured on the high-altitude long-endurance unmanned aerial vehicle, and obtaining the space target sight direction observed quantity in an inertial coordinate system according to the geometric position relation of the imaging of the space target in the directional observation star camera relative to the imaging of the background fixed star;
carrier position and velocity prediction module: predicting the position and the speed of the carrier according to observation data of an accelerometer in an inertial measurement unit configured on the high-altitude long-endurance unmanned aerial vehicle and an earth gravitational field model;
and a position and speed predicted value correction module: under the condition that the observed quantity of the space target sight line direction is available, the observed quantity is processed through a position and speed estimator, and the predicted values of the position and the speed of the carrier are corrected.
In the following, the effectiveness of the method of the invention is verified by a simulation example by taking the navigation and positioning of the unmanned aerial vehicle during high-altitude long-endurance as an example. The carrier is arranged to fly above the earth, and the attitude of the carrier is kept in a stable state relative to the ground. And a directional observation star camera with star and space target sight direction measurement capability, a gyroscope and an accelerometer are arranged on the carrier. The space target sight direction measurement based on the directional observation star camera can reach the accuracy level of an angular second level. In an unmanned aerial vehicle autonomous navigation system based on space target orientation observation, carrier position estimation and attitude determination can be realized by the same set of sensor equipment. Assuming that the standard deviation of the measured random error of the gyroscope is 0.02 degree/h, and the standard deviation of the measured random error of the accelerometer is 1 multiplied by 10 -5 And g, the standard deviation of the random error measured in the sight direction of the directional observation star camera is 1'. In the mathematical simulation process, the position, the speed and the posture of the carrier are determined by measuring data of fixed stars and space target sight directions provided by an orientation observation star camera, correcting a predicted value obtained by a gyroscope and an accelerometer. The position, speed and attitude estimation error curves of the high-altitude long-endurance unmanned aerial vehicle obtained by the method are respectively shown in fig. 2, fig. 3 and fig. 4. In the figure, the solid line represents the state estimation error curve and the dotted line represents the estimation from the carrier attitude estimator and the position velocityAnd the 3 sigma error bound is obtained by calculating corresponding diagonal elements of the error variance matrix through the calculator. Mathematical simulation research shows that the method provided by the invention is used for autonomous navigation of the unmanned aerial vehicle during high-altitude long voyage, and can reach the positioning accuracy level of hundred meters under the condition that the angular measurement accuracy of the directional observation star camera reaches the order of angular seconds.
The main technical content of the invention can open up a new way for the autonomous navigation of the unmanned aerial vehicle during high-altitude long-endurance, can meet the military requirements of high precision, long time and autonomy, and has higher application value in the future informationized battlefield.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.

Claims (10)

1. An autonomous navigation method of an unmanned aerial vehicle during high-altitude long endurance based on space target directional observation is characterized by comprising the following steps:
(1) Initializing a carrier attitude estimator and a position and speed estimator, and setting initial values of state vectors representing carrier position, speed and attitude information;
(2) Imaging observation is carried out on a fixed star through a directional observation star camera configured on the high-altitude long-endurance unmanned aerial vehicle, observation quantity of sight direction of the fixed star in a carrier coordinate system is obtained, and observation quantity of a carrier attitude estimator is constructed;
(3) Predicting the attitude of the carrier according to observation data of a gyroscope in an inertial measurement unit configured on the high-altitude long-endurance unmanned aerial vehicle;
(4) Under the condition that the fixed star sight direction observed quantity of the directional observation star camera is available, processing the observed quantity obtained in the step (2) through a carrier attitude estimator, and correcting the predicted value of the carrier attitude obtained in the step (3);
(5) Simultaneously photographing and observing a space target and a background fixed star through an directional observation star camera configured on the high-altitude long-endurance unmanned aerial vehicle, and obtaining the space target sight direction observed quantity in an inertial coordinate system according to the geometric position relation of the imaging of the space target in the directional observation star camera relative to the imaging of the background fixed star;
(6) Predicting the position and the speed of the carrier according to observation data of an accelerometer in an inertial measurement unit configured on the high-altitude long-endurance unmanned aerial vehicle and an earth gravitational field model;
(7) Under the condition that the observed quantity of the space target sight line direction is available, processing the observed quantity obtained in the step (5) through a position and speed estimator, and correcting the predicted values of the position and the speed of the carrier obtained in the step (6);
(8) And (4) repeating iteration from the step (2) to the step (7) to obtain estimated values of the position, the speed and the attitude of the carrier, so that the autonomous navigation of the high-altitude long-endurance unmanned aerial vehicle based on the space target directional observation is completed.
2. The high-altitude long-endurance unmanned aerial vehicle autonomous navigation method based on space target directional observation according to claim 1, characterized in that: the method for initializing the carrier attitude estimator in the step (1) comprises the following steps: setting initial time k =0 carrier attitude quaternion and gyroscope drift estimated values as
Figure FDA0003812952910000011
And
Figure FDA0003812952910000021
the above-mentioned
Figure FDA0003812952910000022
And
Figure FDA0003812952910000023
obtaining from prior knowledge about carrier attitude and gyroscope;
the method for initializing the position and speed estimator comprises the following steps: setting the initial filtering estimated value of the position and speed estimator as follows:
Figure FDA0003812952910000024
wherein，
Figure FDA0003812952910000025
And
Figure FDA0003812952910000026
respectively representing the position and the velocity vector estimated value of the carrier in the inertial coordinate system at the initial moment,
Figure FDA0003812952910000027
represents an accelerometer zero-offset estimate at an initial time, said
Figure FDA0003812952910000028
From a priori knowledge about the carrier position, velocity and accelerometer.
3. The high-altitude long-endurance unmanned aerial vehicle autonomous navigation method based on space target directional observation according to claim 2, characterized in that: the observed quantity of the carrier attitude estimator constructed in the step (2) is as follows:
Figure FDA0003812952910000029
wherein, the first and the second end of the pipe are connected with each other,
Figure FDA00038129529100000210
and
Figure FDA00038129529100000211
respectively represents the observed quantity and the estimated value of the jth star sight direction in the carrier coordinate system at the k moment, j =1,2, …, N, k =1,2, …,
Figure FDA00038129529100000212
is obtained by the measurement of a directional observation star camera,
Figure FDA00038129529100000213
and calculating according to a star catalogue established in advance and a carrier attitude quaternion estimation value.
4. The high-altitude long-endurance unmanned aerial vehicle autonomous navigation method based on spatial target directional observation according to claim 3, characterized in that: the method for predicting the posture of the carrier in the step (3) comprises the following steps: the quaternion predicted value of the carrier attitude at the k moment is calculated according to the following formula
Figure FDA00038129529100000214
Wherein the content of the first and second substances,
Figure FDA00038129529100000215
Figure FDA00038129529100000216
Figure FDA0003812952910000031
representing the observed quantity of the carrier three-axis attitude angular velocity compensated by the drift of the gyroscope, and the method for compensating the drift of the gyroscope comprises the following steps
Figure FDA0003812952910000032
Figure FDA0003812952910000033
Representing the attitude angular velocity of the carrier measured by a gyroscope in an inertial measurement unit at the moment k-1,
Figure FDA0003812952910000034
when represents k-1Evaluating the drift value of the gyroscope; tau is A Representing the time step of a one-step prediction in a carrier attitude estimator, I 4×4 Is a unit array.
5. The high-altitude long-endurance unmanned aerial vehicle autonomous navigation method based on space target directional observation according to claim 4, characterized in that: the method for correcting the predicted value of the attitude of the carrier in the step (4) comprises
Figure FDA0003812952910000035
Figure FDA0003812952910000036
Figure FDA0003812952910000037
And
Figure FDA0003812952910000038
respectively representing the carrier attitude quaternion and the estimated value of the gyroscope drift at the moment k,
Figure FDA0003812952910000039
the estimated value of the quaternion representing the attitude error of the carrier at the k moment is written as
Figure FDA00038129529100000310
Figure FDA00038129529100000311
Partial estimate of vector, element, representing quaternion of attitude error of carrier at time k
Figure FDA00038129529100000312
Satisfies the normalization condition
Figure FDA00038129529100000313
(symbol)
Figure FDA00038129529100000314
Representing a quaternion multiplication; vector partial estimate of carrier attitude error quaternion
Figure FDA00038129529100000315
And gyroscope drift error estimate
Figure FDA00038129529100000316
Is calculated by the formula
Figure FDA00038129529100000317
K A,k A filter gain array representing a carrier attitude estimator is obtained by calculation according to a carrier attitude estimation system model established in advance, y A,k Is the observed quantity of the carrier attitude estimator.
6. The high-altitude long-endurance unmanned aerial vehicle autonomous navigation method based on space target directional observation according to claim 5, characterized in that: the observed quantity of the space target sight line direction in the inertial coordinate system in the step (5) is
Figure FDA00038129529100000318
Wherein the content of the first and second substances,
Figure FDA0003812952910000041
and the observed quantity of the sight direction of the ith space target in the inertial coordinate system is represented, i =1,2, …, M is measured by a directional observation satellite camera, and the space target can be selected as an earth orbit satellite with known ephemeris.
7. The high-altitude long-endurance unmanned aerial vehicle autonomous navigation method based on spatial target directional observation according to claim 6, characterized in that: the method for predicting the position and the speed of the carrier in the step (6) comprises the following steps: the predicted value of the k-time position and velocity estimator is calculated according to the following formula
Figure FDA0003812952910000042
State transfer function
Figure FDA0003812952910000043
In the form of
Figure FDA0003812952910000044
Wherein f is I,k The specific force in the inertial coordinate system is expressed by the calculation formula
Figure FDA0003812952910000045
f B，k Is a specific force and a matrix in a carrier coordinate system measured by an accelerometer
Figure FDA0003812952910000046
Representing an attitude transformation matrix from an inertial coordinate system to a carrier coordinate system, based on an estimate of the carrier attitude quaternion
Figure FDA0003812952910000047
Is calculated to obtain
Figure FDA0003812952910000048
Wherein the content of the first and second substances,
Figure FDA0003812952910000049
Figure FDA00038129529100000410
Figure FDA00038129529100000411
representing the acceleration of gravity, calculated according to the model of gravitational field, τ P Representing the time step of one-step prediction in the position-velocity estimator,
Figure FDA00038129529100000412
as a carrier attitude quaternion estimate
Figure FDA00038129529100000413
4 elements in (1).
8. The high-altitude long-endurance unmanned aerial vehicle autonomous navigation method based on spatial target directional observation according to claim 7, characterized in that: the method for correcting the predicted values of the position and the speed of the carrier in the step (7) comprises the following steps
Figure FDA0003812952910000051
Wherein the content of the first and second substances,
Figure FDA0003812952910000052
representing the filtered estimate of the position-velocity estimator at time K, K P,k A filter gain array representing the position and velocity estimator, calculated according to a position and velocity estimation system model established in advance, and an observation function
Figure FDA0003812952910000053
In the form of
Figure FDA0003812952910000054
Wherein the content of the first and second substances,
Figure FDA0003812952910000055
calculating the position vector of the ith space target according to the known space target ephemeris,
Figure FDA0003812952910000056
is composed of
Figure FDA0003812952910000057
Prediction of the middle carrier position.
9. The utility model provides a high altitude long endurance unmanned aerial vehicle autonomous navigation system based on directional observation of space object which characterized in that includes:
an initialization module: initializing a carrier attitude estimator and a position and speed estimator, and setting initial values of state vectors representing carrier position, speed and attitude information;
an observed quantity construction module of the carrier attitude estimator: imaging observation is carried out on the fixed star through a directional observation star camera configured on the high-altitude long-endurance unmanned aerial vehicle, observation quantity of sight direction of the fixed star in a carrier coordinate system is obtained, and observation quantity of a carrier attitude estimator is constructed;
a carrier attitude prediction module: predicting the attitude of the carrier according to observation data of a gyroscope in an inertial measurement unit configured on the high-altitude long-endurance unmanned aerial vehicle;
the carrier attitude predicted value correction module: under the condition that the fixed star sight direction observed quantity of the directional observation star camera is available, the observed quantity is processed through the carrier attitude estimator, and the predicted value of the carrier attitude is corrected;
the space target sight line direction observed quantity calculation module: simultaneously photographing and observing a space target and a background fixed star through an directional observation star camera configured on the high-altitude long-endurance unmanned aerial vehicle, and obtaining the space target sight direction observed quantity in an inertial coordinate system according to the geometric position relation of the imaging of the space target in the directional observation star camera relative to the imaging of the background fixed star;
carrier position and velocity prediction module: predicting the position and the speed of the carrier according to observation data of an accelerometer in an inertial measurement unit configured on the high-altitude long-endurance unmanned aerial vehicle and an earth gravitational field model;
and a position and speed predicted value correction module: under the condition that the observed quantity of the space target sight line direction is available, the observed quantity is processed through a position and speed estimator, and the predicted values of the position and the speed of the carrier are corrected.
10. The high-altitude long-endurance unmanned aerial vehicle autonomous navigation system based on directional observation of spatial objects according to claim 9, wherein:
the method for initializing the carrier attitude estimator comprises the following steps: setting initial time k =0 carrier attitude quaternion and gyroscope drift estimated values as
Figure FDA0003812952910000061
And
Figure FDA0003812952910000062
the described
Figure FDA0003812952910000063
And
Figure FDA0003812952910000064
obtaining from prior knowledge about carrier attitude and gyroscope;
the method for initializing the position and speed estimator comprises the following steps: setting the initial filtering estimated value of the position and speed estimator as follows:
Figure FDA0003812952910000065
wherein the content of the first and second substances,
Figure FDA0003812952910000066
and
Figure FDA0003812952910000067
respectively representing the position and the velocity vector estimated value of the carrier in the inertial coordinate system at the initial moment,
Figure FDA0003812952910000068
represents an accelerometer zero-offset estimate at an initial time, said
Figure FDA0003812952910000069
Obtained from a priori knowledge about carrier position, velocity and accelerometer;
the observed quantity of the constructed carrier attitude estimator is as follows:
Figure FDA00038129529100000610
wherein the content of the first and second substances,
Figure FDA00038129529100000611
and
Figure FDA00038129529100000612
respectively represents observed values and estimated values of jth star sight direction in a carrier coordinate system at the k time, j =1,2, …, N, k =1,2, …,
Figure FDA00038129529100000613
is obtained by the measurement of a directional observation star camera,
Figure FDA00038129529100000614
calculating according to a fixed star table and a carrier attitude quaternion estimated value which are established in advance;
the method for predicting the posture of the carrier comprises the following steps: the quaternion predicted value of the carrier attitude at the k moment is calculated according to the following formula
Figure FDA0003812952910000071
Wherein, the first and the second end of the pipe are connected with each other,
Figure FDA0003812952910000072
Figure FDA0003812952910000073
Figure FDA0003812952910000074
representing the observed quantity of the carrier three-axis attitude angular velocity compensated by the drift of the gyroscope, and the method for compensating the drift of the gyroscope comprises the following steps
Figure FDA0003812952910000075
Figure FDA0003812952910000076
Representing the attitude angular velocity of the carrier measured by a gyroscope in the inertial measurement unit at the moment k-1,
Figure FDA0003812952910000077
an estimated value representing the gyroscope drift at the time k-1; tau is A Time step, I, representing a one-step prediction in a carrier attitude estimator 4×4 Is a unit array;
the method for correcting the predicted value of the attitude of the carrier comprises the following steps
Figure FDA0003812952910000078
Figure FDA0003812952910000079
Figure FDA00038129529100000710
And
Figure FDA00038129529100000711
respectively representing the carrier attitude quaternion and the estimated value of the gyroscope drift at the moment k,
Figure FDA00038129529100000712
the estimated value of the quaternion representing the attitude error of the carrier at the k moment is written as
Figure FDA00038129529100000713
Figure FDA00038129529100000714
Partial estimate of vector, element, representing quaternion of attitude error of carrier at time k
Figure FDA00038129529100000715
Satisfies the normalization condition
Figure FDA00038129529100000716
(symbol)
Figure FDA00038129529100000717
Representing a quaternion multiplication; vector partial estimate of carrier attitude error quaternion
Figure FDA00038129529100000718
And gyroscope drift error estimate
Figure FDA00038129529100000719
Is calculated by the formula
Figure FDA00038129529100000720
K A,k A filter gain array representing the carrier attitude estimator is obtained by calculation according to a carrier attitude estimation system model established in advance, y A,k Is the observed quantity of the carrier attitude estimator.
The observed quantity of the space target sight line direction in the inertial coordinate system is
Figure FDA0003812952910000081
Wherein the content of the first and second substances,
Figure FDA0003812952910000082
the method comprises the steps of representing the observed quantity of the sight direction of the ith space target in an inertial coordinate system, wherein i =1,2, … and M are measured by a directional observation star camera, and the space target can be selected as an earth orbit satellite with known ephemeris;
the method for predicting the position and the speed of the carrier comprises the following steps: the predicted value of the k-time position and velocity estimator is calculated according to the following formula
Figure FDA0003812952910000083
State transfer function
Figure FDA0003812952910000084
In the form of
Figure FDA0003812952910000085
Wherein f is I,k The specific force in the inertial coordinate system is expressed by the calculation formula
Figure FDA0003812952910000086
f B，k Is a specific force and a matrix in a carrier coordinate system measured by an accelerometer
Figure FDA0003812952910000087
Representing an attitude transformation matrix from an inertial coordinate system to a carrier coordinate system, based on an estimate of the carrier attitude quaternion
Figure FDA0003812952910000088
Is calculated to obtain
Figure FDA0003812952910000089
Wherein the content of the first and second substances,
Figure FDA00038129529100000810
Figure FDA00038129529100000811
Figure FDA00038129529100000812
representing the acceleration of gravity, calculated from the model of the gravitational field of the earth, τ P Representing the time step of one-step prediction in the position-velocity estimator,
Figure FDA00038129529100000813
as a carrier attitude quaternion estimate
Figure FDA00038129529100000814
4 elements in (1).
The method for correcting the predicted values of the position and the speed of the carrier comprises the following steps
Figure FDA0003812952910000091
Wherein the content of the first and second substances,
Figure FDA0003812952910000092
representing the filtered estimate of the position-velocity estimator at time K, K P,k A filter gain array representing the position and velocity estimator, calculated according to a position and velocity estimation system model established in advance, and an observation function
Figure FDA0003812952910000093
In the form of
Figure FDA0003812952910000094
Wherein the content of the first and second substances,
Figure FDA0003812952910000095
calculating the position vector of the ith space target according to the known space target ephemeris,
Figure FDA0003812952910000096
is composed of
Figure FDA0003812952910000097
Predicted value of medium carrier position.
CN202211018029.3A 2022-08-24 2022-08-24 High-altitude long-endurance unmanned aerial vehicle autonomous navigation method based on space target directional observation Pending CN115479605A (en)

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CN117073691B (en) * 2023-10-12 2024-02-02 中国科学院光电技术研究所 Visual inertia tight coupling spacecraft attitude measurement method based on optimization

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