CN103884333B - A kind of survey of deep space independent navigation initial baseline catching method - Google Patents
A kind of survey of deep space independent navigation initial baseline catching method Download PDFInfo
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- CN103884333B CN103884333B CN201410126755.6A CN201410126755A CN103884333B CN 103884333 B CN103884333 B CN 103884333B CN 201410126755 A CN201410126755 A CN 201410126755A CN 103884333 B CN103884333 B CN 103884333B
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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
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
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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
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Abstract
A kind of survey of deep space independent navigation initial baseline catching method, including step be：The determination of initial inertia attitude reference, the attitude of acquisition procedure and the determination of non-speed of gravity increment, the speed increment determination of acquisition procedure, the determination of speed of gravity increment, the determination of celestial body center position, the determination of three-dimensional velocity and prediction and highly determination and prediction.The present invention improves power dropping initial navigation benchmark and determines precision, reduces the requirement to ground observing and controlling and approach section inertial navigation, meets the requirement that following high accuracy is landed with avoidance detection mission to high accuracy navigation.
Description
Technical field
The present invention relates to a kind of survey of deep space independent navigation initial baseline catching method, be mainly used in deep space land and on
Detector is risen, belongs to spacecraft guidance, navigation and control technology field.Can be applicable to the deep space such as the moon and Mars, asteroid
Celestial body detection mission, is with a wide range of applications and market prospect.
Background technology
Planetary scale environmental condition and distance restraint is limited to, for the flight course for entering the planets such as Mars, ground
Observing and controlling postpones greatly and certainty of measurement is poor, and the detector course of work cannot obtain the real-time support on ground.For landing is extremely weighed
The power dropping initial navigation benchmark that wants, it is necessary to independently determine on detector star.The power dropping of existing Mars probes
Initial navigation benchmark is typically determined by the inertial navigation of the process of entrance.Due to entering the accumulation of process inertial navigation error, initially
Navigation fiducial error is general all larger, is difficult to realize the high accuracy navigation and control of follow-up work.
The Mars landing detector of early stage is all landed using air bag mode, less demanding to initial navigation benchmark.Recent
Phoenix detector and MSL (curious number) employ the area of screening high probability safe landing in advance to avoid big barrier
The harm for hindering, avoids high accuracy navigation and avoidance obstacle problem.For following deep space landing detection mission, lander energy is needed
Enough be accurate to up to there is the region of disorder characteristics (such as hole, rock etc.), it is desirable to lander must with high precision independent navigation and
Control function.
Content of the invention
The technology of the present invention solve problem：Overcome the deficiencies in the prior art, there is provided a kind of first primordium of survey of deep space independent navigation
Quasi- catching method, improves power dropping initial navigation benchmark and determines precision, reduce and ground observing and controlling and approach section inertia are led
The requirement of boat, meets the requirement that following high accuracy is landed with avoidance detection mission to high accuracy navigation.
Technical solution of the present invention：A kind of survey of deep space independent navigation initial baseline catching method, its feature are：
(1) initial inertia attitude reference determines
For detector enters planetary scale process, when detector reaches predetermined altitude (such as 8km), detector completes to throw to be prevented
Behind hot big bottom (so-called " throwing the big bottom of solar heat protection " is exactly the high temperature-proof equipment that detector active jettisoning covers on detector bottom), start and survey
Away from the sensor that tests the speed；According to the information that range finding sensor is provided, the parachute that predetermined altitude (such as 3km) cuts off detector is reached,
Once completing to cut umbrella, determine that body attitude at that time is initial inertia attitude reference；
(2) attitude of acquisition procedure and non-speed of gravity increment determine
Using the IMU measurement data of acquisition procedure, according to the initial inertia attitude reference that step (1) determines, integrating gyroscope
The angular velocity of measurement, obtains the inertial attitude of acquisition procedure, and determines that thrust, atmospheric drag etc. are non-according to the acceleration of measurement drawing
The speed increment that power causes；
(3) speed increment of acquisition procedure determines
Using the sensor measurement data that tests the speed of acquisition procedure, according to the inertial attitude that step (2) determines, measurement week is determined
The general speed increment of detector in phase.
(4) speed of gravity increment determines
What in the measure the cycle that step (3) is determined, the general speed increment of detector deducted that corresponding step (2) determines is non-
The speed increment that gravitation causes, determines the speed of gravity increment in each measure the cycle.
(5) celestial body center position determines
The speed of gravity increment in each measure the cycle that step (4) is determined carry out unitization, obtain multiple measurement week
The gravity direction of multiple measure the cycles is carried out averagely determining gravity direction, that is, determines initial inertia appearance by the gravity direction of phase
Celestial body center position under state benchmark；
(6) determination and prediction of three-dimensional velocity
Tested the speed information using multiple wave beams, according to testing the speed beam position and inertial attitude determines the three-dimensional velocity of detector；
Acceleration according to measurement determines the speed increment that non-gravitation is produced, and is calculated really based on the celestial body center position that step (5) determines
Determine the speed increment of celestial body gravitation generation, this two speed increments are added, and obtain general speed increment, further according to the speed in upper cycle
The current speed of prediction；Finally the present speed that predicts is modified using current multiple wave beam metrical informations；
(7) height determines and predicts
The celestial body center position determined based on step (5), it is possible to will synthesis three-dimensional flow and ranging information projection
To vertical, vertical velocity and elevation information is obtained, vertical velocity is used for predicting without elevation information during ranging information.
Present invention advantage compared with prior art is：The present invention improves power dropping initial navigation benchmark and determines essence
Degree, reduces the requirement to ground observing and controlling and approach section inertial navigation, meets following high accuracy and lands and avoidance detection mission
Requirement to high accuracy navigation.
Description of the drawings
Fig. 1 survey of deep space independent navigation initial baseline catching method flow charts.
Specific embodiment
As shown in figure 1, the present invention is implemented as follows：
The first step, carries out initial inertia attitude reference determination
For detector enters planetary scale process, when detector reaches predetermined altitude (such as 8km), detector completes to throw to be prevented
Behind hot big bottom (so-called " throwing the big bottom of solar heat protection " is exactly the high temperature-proof equipment that detector active jettisoning covers on detector bottom), start and survey
Away from the sensor that tests the speed；According to the information that range finding sensor is provided, the parachute that predetermined altitude (such as 3km) cuts off detector is reached,
Once completing to cut umbrella, body attitude (q=[0 00 1] at that time is determined thatT) it is initial inertia attitude reference.
Second step, the attitude of acquisition procedure and non-speed of gravity increment determine
Using the IMU measurement data of acquisition procedure, according to the initial inertia attitude reference that step (1) determines, integrating gyroscope
The angular velocity of measurement, obtains the inertial attitude of acquisition procedure, and determines that thrust, atmospheric drag etc. are non-according to the acceleration of measurement drawing
The speed increment that power causes；
If the angular velocity of gyro to measure is ωb, then Attitude kinematic function with quaternion representation can be：
Wherein
Attitude quaternions of the q for detector, q1、q2、q3And q4For four components of q, i.e. q=[q1q2q3q4]T；With first
Beginning inertial attitude benchmark is initial value for integral, and (1) formula is integrated, the quaternary number q and corresponding attitude square of any time is obtained
Battle array：
The attitude matrix C of acquisition procedurebiObtained according to gyro to measure recursion；
If the speed increment of accelerometer measures isNon- drawn using what attitude matrix can obtain under inertial coodinate system
The speed increment that power is brought is
3rd step, the speed increment of acquisition procedure determine
Using the sensor measurement data that tests the speed of acquisition procedure, according to the inertial attitude matrix that step (2) determines, determine and survey
The general speed increment of detector in the amount cycle.
If testing the speed sensor wave beam k being oriented in body seriesIts corresponding wave beam measurement data
For vk, n is to test the speed the wave beam number that tests the speed of sensor, and n >=3 can then construct installation matrix
If n=3, the expression that can obtain certain moment t in the detector three-dimensional velocity of body series is
If n >=4, the expression that can obtain certain moment t in the detector three-dimensional velocity of body series is
Then, using inertial attitude matrix, the detector three-dimensional velocity of body series is gone in inertial coodinate system, t is obtained
Detector speed of the moment in inertial coodinate system
Thus it is possible to determine that the general speed increment of detector in measure the cycle is
Wherein,Represent the previous measurement moment t of t, -1 detector speed for obtaining.
4th step, speed of gravity increment determine
What in the measure the cycle that step (3) is determined, the general speed increment of detector deducted that corresponding step (2) determines is non-
The speed increment that gravitation causes, determines that the speed of gravity increment in each measure the cycle is
5th step, celestial body center position determine
The speed of gravity increment in each measure the cycle that step (4) is determined carry out unitization, obtain multiple measurement week
The gravity direction of multiple measure the cycles is carried out averagely determining gravity direction, that is, determines initial inertia appearance by the gravity direction of phase
Celestial body center position under state benchmark；
The speed of gravity increment in each measure the cycle that step (4) is determined carry out unitization, determine j-th measurement week
The gravity direction of phase is
Wherein, j=1,2 ..., m, m are total measure the cycle number.
Carry out averagely, determining the celestial body center side under initial inertia attitude reference by multiple gravity directions that formula (11) determines
Xiang Wei
6th step, the determination and prediction of three-dimensional velocity
Tested the speed information using multiple wave beams, according to testing the speed beam position and inertial attitude determines the three-dimensional velocity of detector；
Acceleration according to measurement determines the speed increment that non-gravitation is produced, and is calculated really based on the celestial body center position that step (5) determines
Determine the speed increment of celestial body gravitation generation, this two speed increments are added, and obtain general speed increment, further according to the speed in upper cycle
The current speed of prediction；Finally the present speed that predicts is modified using current multiple wave beam metrical informations；
According to formula (5), (6), (7) and (8), tested the speed information using multiple wave beams, pointed to according to distance measurement beam and inertia appearance
State determines certain moment t, -1 detector three-dimensional velocity
According to formula (4), determine that non-gravitation is produced from moment t, -1 to moment t time period Δ t using the acceleration of measurement
Speed increment
The celestial body center position determined based on step (5)Determine that the speed increment that gravitation is produced in time period Δ t is
Above-mentioned two speed increments are added, total speed increment is obtained
Further according to moment t, -1 detector speedPredict that current detector speed is
The present speed that predicts is modified using current multiple wave beam metrical informations, revised speed is
In formula, δ vkDifference of the detector speed of prediction in the beam direction speed of the projection and measurement of beam direction, cvkFor
Beam direction correction factor, value is between 0～1.
7th step, height determine and predict
The celestial body center position determined based on step (5), it is possible to will synthesis three-dimensional flow and ranging information projection
To vertical, vertical velocity and elevation information is obtained, vertical velocity is used for predicting without elevation information during ranging information.
The celestial body center position determined based on step (5), it is possible to three-dimensional flow will be synthesizedWith range finding ltInformation is thrown
Shadow respectively obtains vertical velocity to verticalWith height htFor
The height that is predicted using vertical velocityFor
In formula, ht,-1For previous measurement moment t, -1 height, Δ t are from moment t, the time of -1 to moment t.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (1)
1. a kind of survey of deep space independent navigation initial baseline catching method, its feature are to realize that step is as follows：
Step (1) initial inertia attitude reference determines
For detector enters planetary scale process, when detector reaches predetermined altitude, after detector completes to throw the big bottom of solar heat protection, open
Dynamic range finding sensor and the sensor that tests the speed, the big bottom of the throwing solar heat protection are the high temperature-proof that detector active jettisoning covers on detector bottom
Equipment；According to the information that range finding sensor is provided, the parachute that predetermined altitude cuts off detector is reached, once complete to cut umbrella, just
Determine that body attitude at that time is initial inertia attitude reference；
The attitude of step (2) acquisition procedure and non-speed of gravity increment determine
Using the IMU measurement data of acquisition procedure, according to the initial inertia attitude reference that step (1) determines, integrating gyroscope is measured
Angular velocity, obtain the inertial attitude of acquisition procedure, and determine that the non-gravitation of thrust, atmospheric drag causes according to the acceleration of measurement
Speed increment；
The speed increment of step (3) acquisition procedure determines
Using the sensor measurement data that tests the speed of acquisition procedure, according to the inertial attitude that step (2) determines, determine in measure the cycle
The general speed increment of detector；
Step (4) speed of gravity increment determines
In the measure the cycle that step (3) is determined, the general speed increment of detector deducts the non-gravitation that corresponding step (2) determines
The speed increment for causing, determines the speed of gravity increment in each measure the cycle；
Step (5) celestial body center position determines
The speed of gravity increment in each measure the cycle that step (4) is determined carries out unitization, obtains multiple measure the cycles
The gravity direction of multiple measure the cycles is carried out averagely determining gravity direction, that is, determines initial inertia attitude base by gravity direction
Celestial body center position under standard；
The determination and prediction of step (6) three-dimensional velocity
Tested the speed information using multiple wave beams, according to testing the speed beam position and inertial attitude determines the three-dimensional velocity of detector；According to
The acceleration of measurement determines the speed increment that non-gravitation is produced, and is calculated based on the celestial body center position that step (5) determines and determines day
The speed increment that body gravitation is produced, this two speed increments are added, and obtain general speed increment, further according to the prediction of speed in upper cycle
Current speed；Finally the present speed that predicts is modified using current multiple wave beam metrical informations；
Step (7) height determines and predicts
The celestial body center position under initial inertia attitude reference is determined based on step (5), by the measurement of three-dimensional velocity and range finding letter
Breath projects to vertical, obtains vertical velocity and elevation information, and vertical velocity is used for predicting without elevation information during ranging information.
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| CN109000665B (en) * | 2018-03-20 | 2020-05-19 | 北京控制工程研究所 | Deep space landing geometric orbit and attitude determination method and system and deep space lander |
| CN109506662B (en) * | 2018-10-30 | 2020-09-18 | 北京控制工程研究所 | Small celestial body landing initial alignment method and relative navigation reference determination method and device thereof |
| CN112099071B (en) * | 2020-09-09 | 2023-12-12 | 西安应用光学研究所 | Quick initial attitude determination device and method for accurate air-drop navigation device |
| CN112066999B (en) * | 2020-09-16 | 2022-08-12 | 北京控制工程研究所 | Method and device for determining gravity direction in real time in planet landing process |
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