CN107655485B - Cruise section autonomous navigation position deviation correction method - Google Patents

Cruise section autonomous navigation position deviation correction method Download PDF

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CN107655485B
CN107655485B CN201710873985.2A CN201710873985A CN107655485B CN 107655485 B CN107655485 B CN 107655485B CN 201710873985 A CN201710873985 A CN 201710873985A CN 107655485 B CN107655485 B CN 107655485B
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崔平远
贾贺
朱圣英
于正湜
高艾
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Beijing Institute of Technology BIT
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Abstract

The invention discloses a cruise section autonomous navigation position deviation correction method, and belongs to the technical field of deep space exploration. The invention establishes a dynamic model of the detector and carries out linearization processing on the dynamic model; establishing an autonomous navigation measurement model, acquiring a gray image of a visible planet by an optical navigation camera, and finishing the identification and tracking of the centroid of the visible planet through satellite-borne image processing; determining an initial orbit of the detector; correcting the position of the visible planet through the relative position information between the visible planet and the detector; correcting the observation information of the centroid angular position of the visible planet through the relative speed information between the visible planet and the detector to obtain a more accurate observation model; and resolving the real-time state of the detector based on a nonlinear system filtering algorithm according to the dynamic model and the measurement model, and realizing real-time navigation. The method can improve the estimation precision and the filtering convergence speed of the cruise section autonomous navigation method, realize quick and accurate estimation, and provide support for the design of a deep space exploration cruise section navigation scheme.

Description

Cruise section autonomous navigation position deviation correction method
Technical Field
The invention relates to a cruise section autonomous navigation position deviation correction method, and belongs to the technical field of deep space exploration.
Background
The deep space exploration is a main way for people to know the formation and evolution of the universe and the solar system and explore the origin of life, the cruise section is the longest orbit section of the deep space exploration, and the cruise section has the characteristics of inaccurate dynamic model and ephemeris data, long flight time and the like. Attitude information in the flight task of the cruise section is determined by the star sensor, and position estimation still depends on the ground communication station. However, in the flight process, if the detector navigation is carried out by completely depending on the ground measurement and control station, the burden of the ground station is seriously increased; in addition, when the communication system fails temporarily or permanently, the quality of the autonomous navigation performance plays a crucial role in the success or failure of the detection task. In addition, the navigation precision of the deep space exploration cruising segment is directly related to success or failure of subsequent exploration tasks such as capturing, approaching and flying around of the target celestial body, and therefore the high-precision autonomous navigation method research of the cruising segment is of great significance.
Based on the characteristics and requirements, the optical sensor becomes a main sensor for automatically determining the position and the speed of the cruising segment detector by referring to a Deep Space 1 (Deep Space 1) task, a star dust (Stardust) task, an intelligent 1 (SMART-1) task and other Deep Space detection tasks. The detector generally adopts an autonomous navigation method for observing the centroid of a celestial body by an optical sensor in an interplanetary cruise segment, and the method can realize autonomous estimation of the position and the speed of the detector. However, during the inter-satellite cruising process, since the detector and the observed celestial body are far apart from each other and have relative motion during the in-orbit operation, during the process that light reaches the detector from the observed celestial body, an apparent vector deviation is generated between the direction (apparent direction) of the observed celestial body of the detector and the real direction of the observed celestial body, namely, a position vector deviation is generated between the real position and the observed position of the celestial body, so that the navigation error is increased along with the increase of the distance between the detector and the observed celestial body, and therefore, the deviation needs to be corrected.
Disclosure of Invention
Aiming at the problems that in the cruise section autonomous navigation method using asteroid measurement in the prior art, the number of asteroids is limited, the asterisk error is large, and relative motion exists between a detector and an observed celestial body, the cruise section autonomous navigation position deviation correction method disclosed by the invention aims to improve the estimation precision and the filtering convergence speed of the cruise section autonomous navigation method, realize the rapid and accurate estimation of the state of the detector and provide technical support for the design of a deep space exploration cruise section navigation scheme.
The purpose of the invention is realized by the following technical scheme.
The invention discloses a cruise section autonomous navigation position deviation correction method, which is used for establishing a dynamic model of a cruise section detector and carrying out linearization processing on the dynamic model. And establishing an autonomous navigation measurement model, acquiring a gray image of the visible planet by an optical navigation camera, and finishing the identification and tracking of the centroid of the visible planet through satellite-borne image processing software. An initial trajectory of the detector is determined by a space-based initial trajectory determination algorithm, the initial trajectory of the detector including a position vector and a velocity vector of the detector. The position of the visible planets is corrected by the relative positional information between the visible planets and the detector. And correcting the observation information of the centroid angular position of the visible planet through the relative speed information between the visible planet and the detector, so as to obtain a more accurate observation model, namely finishing the position deviation correction, namely correcting the aberration effect of the light. And resolving the real-time state of the detector based on a nonlinear system filtering algorithm according to a dynamic model and a measurement model of the detector in the cruising segment, and realizing real-time navigation.
The invention discloses a cruise section autonomous navigation position deviation correction method, which comprises the following steps:
step 1: and establishing a dynamic model of the cruise section detector.
The detector moves in the solar system and is mainly influenced by the gravitational field of the sun, and the dynamics of the detector meet the Keplerian two-body equation. In order to accurately establish a dynamic model of the detector in a cruise section as far as possible, the influence of gravity of a large planet, the influence of solar light pressure perturbation and the thrust factor of the detector are considered in a model perturbation term, so that the dynamic equation expression of the detector in a heliocentric inertial coordinate system is shown as a formula (1):
Figure GDA0002439386450000021
where r and v represent the position and velocity vectors of the probe, respectively;
Figure GDA0002439386450000022
is the position vector of the ith perturbation planet;
Figure GDA0002439386450000023
as a position vector of the ith perturbation planet relative to the detector, i.e.
Figure GDA0002439386450000024
μsIs the constant of solar attraction, muiIs the gravitational constant of the ith perturbation planet; n istThe number of perturbation planets.CRIs the reflection coefficient of the detector surface, SsrpIs the solar radiation photopressure factor, m is the mass of the detector, k is the thrust coefficient, and the last term a represents other unmodeled accelerations.
The position and speed of the detector are selected as state variables, then
Figure GDA0002439386450000025
The state equation of the detector is shown in equation (2):
Figure GDA0002439386450000031
step 2: and establishing an autonomous navigation measurement model of the cruise section.
The imaging process of the camera adopts a model of pinhole imaging to define the centroid f of the visible planets1Position coordinate r in the camera coordinate systemp＝[xcyczc]TThen, the original pixel coordinates in the camera image plane are as shown in formula (3):
Figure GDA0002439386450000032
wherein: f is the focal length of the camera, zcIs the distance of the target point to the camera imaging plane along the camera reference line.
The camera system coincides with the detector system, taking into account attitude deviation in the camera measurement process, i.e. defining xc,ycThe attitude deviation of the direction is theta1,θ2Then, random rotation during the camera measurement will affect the position measurement of the feature point, so the actual position coordinate is shown in formula (4):
Figure GDA0002439386450000033
because the deviation of the attitude angle is small, the method is simplified into the formula (5)
Figure GDA0002439386450000034
Neglecting the denominator effect, we simplify to equation (6):
Figure GDA0002439386450000035
selecting the angular position of the center of mass of the visible planet as the observed quantity of the camera, i.e. the measurement vector Z comprises the azimuth angle
Figure GDA0002439386450000036
And a pitch angle
Figure GDA0002439386450000037
As shown in equation (7):
Figure GDA0002439386450000038
wherein:
Figure GDA0002439386450000046
and upsilonφThe measurement noise of the pitch angle and the azimuth angle is represented respectively, and the vector of the centroid position of the planet is shown as R, so that the pitch angle and the azimuth angle are calculated as shown in formula (8):
Figure GDA0002439386450000041
and step 3: the initial trajectory of the detector is determined.
NobsThe initial track determination problem for the secondary observation is written in the form shown in equation (9):
Figure GDA0002439386450000042
wherein: r isk，RkRespectively, the position vectors of the kth spacecraft and the visible planets under the inertial system of the sun. Unknown distance ρkIs the amount to be requested,
Figure GDA0002439386450000043
representing the unit line-of-sight vector of the detector to the visible planets. Will wait for the quantity rhokExpressed in the form of high-order polynomial, and solving the quantity rho to be solved which satisfies the constraint of the formula (9) by a fitting methodkThe approximate solution of (2) is determined, i.e. the initial trajectory of the detector is determined.
In order to further improve the solving efficiency and the solving precision of the initial orbit determination of the detector in the step 3, the quantity rho to be solved is obtained in the step 3kExpressed in the form of a third-order polynomial, and solving the quantity rho to be solved which satisfies the constraint of the formula (9) by a least square fitting methodkThe approximate solution of (2) is preferably implemented as follows:
to-be-solved quantity rhokThe three-axis components in the centroid inertial system are shown in equation (10):
Figure GDA0002439386450000044
taking into account the form of the third-order polynomial, equation (10) is expressed in the form shown as equation (11):
Figure GDA0002439386450000045
equation (11) should also satisfy the geometric constraints in equation (9), and therefore,
Figure GDA0002439386450000051
tkthe measurement time of the k-th time is shown. Moving the equation in equation (12) from left to right, the residual is defined as shown in equation (13):
Figure GDA0002439386450000052
equation (13) is further expressed in the form shown in equation (14):
Figure GDA0002439386450000053
to get the best fit, the coefficients a of the polynomial fit need to be adjustedi，biAnd ciSo that the residual phi isx,φyAnd phi iszThe minimum, so that there are,
Figure GDA0002439386450000054
therefore, the coefficients in the polynomial to be solved are determined by a fitting method, and in order to further improve the solving efficiency, a least square method is selected to determine the coefficients in the polynomial to be solved, such as formula (16):
Figure GDA0002439386450000055
{a}＝{a1a2a3a4}T，{b}＝{b1b2b3b4}T，{c}＝{c1c2c3c4}Tthe matrix T of 3 × 3 is as in formula (17):
Figure GDA0002439386450000061
up to this point, the coefficients of the third-order polynomial shown in equation (11) have all been solved, and the required quantity ρ meeting the accuracy requirement can be obtained from the coefficientskThe determination of the initial orbit of the detector is completed.
And 4, step 4: and correcting the optical line difference effect.
The position vector of the visible planet is corrected by the relative position information between the visible planet and the detector. The angular position observation information shown in the formula (7) in the step 2 is corrected through the relative speed information between the visible planet and the detector, so that a more accurate observation model is obtained, namely, the optical line difference effect correction is completed.
The specific implementation method of the step 4 is as follows:
step 4.1: the position of the visible planets is corrected by the relative positional information between the visible planets and the detector.
The optical aberration correction refers to the displacement generated between the real position and the observed position of the celestial body due to the movement of the celestial body in the process of the light reaching the detector, and the optical aberration correction is performed on the displacement. The problem of correcting the displacement generated between the real position and the observed position of the celestial body needs to be further corrected by the visible planet position vector. Defining the observation time as tk，k＝1,2...,NobsThe unit vector of each measurement direction is
Figure GDA0002439386450000062
k＝1,2...,Nobs. Since the detector cannot determine its own distance from the sun and the earth, only the position vector R of the observation visible planets is knownkAnd unit vector of observation direction relative to visible planets
Figure GDA0002439386450000063
Thus based on time tk-δtkSolving for a visible planet true position vector, where δ tkIs the time required for light to reach the detector from the visible planet. First determine δ tkAs shown in equation (18):
Figure GDA0002439386450000064
where c represents the speed of light. The position vector of the planet is corrected as shown in equation (19):
Rupdated＝R(tk-δtk) (19)
the update of the visible planetary position vector is determined by equations (18) and (19), i.e., the correction of the visible planetary position vector is completed.
Step 4.2: correcting the angular position observation information in step 2 as shown in equation (7) by the relative velocity information between the visible planets and the probe results in a more accurate measurement model.
Defining probe velocity direction and observation direction
Figure GDA0002439386450000071
Angle therebetween is thetaobsAnd the distortion angle between the real direction and the observation direction is epsilon, the corrected real celestial body observation direction meets the precision requirement
Figure GDA0002439386450000072
As shown in equation (20):
Figure GDA0002439386450000073
wherein:
Figure GDA0002439386450000074
is the unit vector of the probe velocity, θtrueIs the angle between the speed of the probe and the true direction of observation, and θtrue＝θobs+ ε. The distortion angle epsilon at different times is expressed in the form of equation (21),
Figure GDA0002439386450000075
wherein: c and v represent the magnitude of the speed of light and the magnitude of the detector speed, respectively.
The relationship between the observed direction and the true direction is shown in equation (22),
Figure GDA0002439386450000076
the included angle between the visual line direction of the visible planet and the detector and the speed vector of the detector are known, so that the real observation direction can be solved through a formula (22), and a corrected real measurement model is obtained by combining a formula (7), so that the optical aberration effect correction is completed.
And 5: and (4) resolving real-time state information of the detector based on a nonlinear system filtering algorithm according to the dynamic model of the detector in the step (1), the initial orbit of the detector determined in the step (3) and the real measurement model corrected in the step (4), and realizing real-time navigation.
And (4) estimating the state of the detector through navigation filtering according to the dynamic model of the cruise section detector obtained in the step (1), the initial track of the detector determined in the step (3) and the real measurement model corrected in the step (4). Because the dynamic model and the measurement model both present nonlinearity, a nonlinear filter is selected to resolve the real-time state information of the detector, and real-time navigation is realized.
The nonlinear filter is Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), Model Prediction Filter (MPF) or Particle Filter (PF) or the like.
In order to further improve the navigation filtering precision and the convergence speed, the nonlinear filter is preferably Extended Kalman Filtering (EKF).
Has the advantages that:
1. in the navigation method for measuring asteroids by using an optical sensor in the prior art, the number of the asteroids in the near field is limited and is restricted by strict screening criteria, the number of the available planeoids cannot meet the task requirement, and in addition, ephemeris information of the asteroids observed by a ground station has larger errors, so that the navigation precision of the method is lower. According to the cruise autonomous navigation position deviation correction method disclosed by the invention, the visible planets with more accurate ephemeris information are selected as the observation celestial bodies, so that the estimation precision of a navigation algorithm is improved, and the precision requirement of cruise autonomous navigation is met.
2. Aiming at a cruise section, a detector and an observed celestial body are far away from each other in an orbit running process, and the existence of the speed of the detector and the observed celestial body causes the position deviation (optical line difference effect) between the true position and the observation position of the celestial body in the process that light reaches the detector from the observed celestial body, the cruise section autonomous navigation position deviation correction method disclosed by the invention corrects the optical line difference effect aiming at the problem, namely corrects the position of a visible planet through the relative position information between the visible planet and the detector; the angular position observation information is corrected through the relative speed information between the visible planet and the detector, so that a more accurate measurement model of the planet mass center is obtained, and the estimation accuracy of the navigation method is improved.
3. The cruise section autonomous navigation position deviation correction method disclosed by the invention adopts the nonlinear filter to estimate the state of the detector, and can improve the accuracy and the filtering convergence speed of the autonomous navigation algorithm.
Drawings
FIG. 1 is a flow chart of a cruise section autonomous navigation position deviation correction method;
FIG. 2 is a navigation error curve of the detector in the centroid inertial coordinate system when the autonomous navigation method is adopted in the embodiment. (FIG. 2a is a detector x-direction position navigation error curve, FIG. 2b is a detector y-direction position navigation error curve, FIG. 2c is a detector z-direction position navigation error curve, FIG. 2d is a detector x-direction speed navigation error curve, FIG. 2e is a detector y-direction speed navigation error curve, and FIG. 2f is a detector z-direction speed navigation error curve.)
Detailed Description
For a better understanding of the objects and advantages of the present invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.
Example 1:
the example performs simulation verification for the deep space exploration cruising segment. And measuring the sight line information from the detector to the visible planet mass center by using an optical camera, correcting the optical line difference effect, and then performing joint estimation on the position and the speed state of the detector by using an Extended Kalman Filter (EKF) to realize high-precision real-time autonomous navigation.
The embodiment discloses a cruise section autonomous navigation position deviation correction method, which comprises the following steps:
step 1: and establishing a dynamic model of the cruise section detector.
The detector moves in the solar system and is mainly influenced by the gravitational field of the sun, and the dynamics of the detector meet the Keplerian two-body equation. In order to establish a dynamic model of the detector in the cruise section as accurately as possible, the perturbation term of the model considers the gravitational influence of the planets, the solar light pressure perturbation influence and the thrust factor of the detector, so that the dynamic equation expression of the detector in a heliocentric inertial coordinate system is shown as formula (1):
Figure GDA0002439386450000091
where r and v represent the position and velocity vectors of the probe, respectively;
Figure GDA0002439386450000092
is the position vector of the ith perturbation planet;
Figure GDA0002439386450000093
as a position vector of the ith perturbation planet relative to the detector, i.e.
Figure GDA0002439386450000094
μsIs the constant of solar attraction, muiIs the gravitational constant of the ith perturbation planet; n istThe number of perturbation planets. CRIs the reflection coefficient of the detector surface, SsrpIs the solar radiation photopressure factor, m is the mass of the detector, k is the thrust coefficient, and the last term a represents other unmodeled accelerations.
The position and speed of the detector are selected as state variables, then
Figure GDA0002439386450000095
The state equation of the detector is shown in equation (2):
Figure GDA0002439386450000101
step 2: and establishing an autonomous navigation measurement model of the cruise section.
The imaging process of the camera adopts a model of pinhole imaging to define the centroid f of the visible planets1Position coordinate r in the camera coordinate systemp＝[xcyczc]TThen, the original pixel coordinates in the camera image plane are as shown in formula (3):
Figure GDA0002439386450000102
wherein: f is the focal length of the camera, zcFor the target point to follow the camera reference lineDistance of the camera imaging plane.
The camera system coincides with the detector system, taking into account attitude deviation in the camera measurement process, i.e. defining xc,ycThe attitude deviation of the direction is theta1,θ2Then, random rotation during the camera measurement will affect the position measurement of the feature point, so the actual position coordinate is shown in formula (4):
Figure GDA0002439386450000103
because the attitude angle deviation is small, it is simplified to formula (5):
Figure GDA0002439386450000104
neglecting the denominator effect, we simplify to equation (6):
Figure GDA0002439386450000105
selecting the angular position of the center of mass of the visible planet as the observed quantity of the camera, i.e. the measurement vector Z comprises the azimuth angle
Figure GDA0002439386450000106
And a pitch angle
Figure GDA0002439386450000107
As shown in equation (7):
Figure GDA0002439386450000108
wherein:
Figure GDA0002439386450000117
and upsilonφThe measurement noise of the pitch angle and the azimuth angle is represented respectively, and the vector of the centroid position of the planet is shown as R, so that the pitch angle and the azimuth angle are calculated as shown in formula (8):
Figure GDA0002439386450000111
and step 3: determining initial trajectory of detector
NobsThe initial track determination problem for the secondary observation is written in the form shown in equation (9),
Figure GDA0002439386450000112
wherein: r isk，RkRespectively, the position vectors of the kth spacecraft and the visible planets under the inertial system of the sun. Unknown distance ρkIs the amount to be requested,
Figure GDA0002439386450000113
representing the unit line-of-sight vector of the detector to the visible planets. In order to further improve the solving efficiency and the solving precision of the initial orbit determination of the detector in the step 3, the quantity rho to be solved is obtained in the step 3kExpressed in the form of a third-order polynomial, and solving the quantity rho to be solved which satisfies the constraint of the formula (9) by a least square fitting methodkThe approximate solution is realized by the following method:
to-be-solved quantity rhokThe three-axis components in the centroid inertial system are shown in equation (10):
Figure GDA0002439386450000114
taking into account the form of the third-order polynomial, equation (10) is expressed in the form shown as equation (11):
Figure GDA0002439386450000115
equation (11) should also satisfy the geometric constraints in equation (9), and therefore,
Figure GDA0002439386450000116
tkthe measurement time of the k-th time is shown. Will be publicEquation (12) is shifted left to right, and the residual error is defined as shown in equation (13):
Figure GDA0002439386450000121
equation (13) is further expressed in the form shown in equation (14):
Figure GDA0002439386450000122
to get the best fit, the coefficients a of the polynomial fit need to be adjustedi，biAnd ciSo that the residual phi isx,φyAnd phi iszThe minimum, so that there are,
Figure GDA0002439386450000123
therefore, the coefficients in the polynomial to be solved are determined by a fitting method, and in order to further improve the solving efficiency, a least square method is selected to determine the coefficients in the polynomial to be solved, such as formula (16):
Figure GDA0002439386450000124
{a}＝{a1a2a3a4}T，{b}＝{b1b2b3b4}T，{c}＝{c1c2c3c4}Tthe matrix T of 3 × 3 is as in formula (17):
Figure GDA0002439386450000125
up to this point, the coefficients of the third-order polynomial shown in equation (11) have all been solved, and the required quantity ρ meeting the accuracy requirement can be obtained from the coefficientskThe determination of the initial orbit of the detector is completed.
And 4, step 4: and correcting the optical line difference effect.
The position vector of the visible planet is corrected by the relative position information between the visible planet and the detector. The angular position observation information shown in the formula (7) in the step 2 is corrected through the relative speed information between the visible planet and the detector, so that a more accurate observation model is obtained, namely, the optical line difference effect correction is completed.
The specific implementation method of the step 4 is as follows:
step 4.1: the position of the visible planets is corrected by the relative positional information between the visible planets and the detector.
The optical aberration correction refers to the displacement generated between the real position and the observed position of the celestial body due to the movement of the celestial body in the process of the light reaching the detector, and the optical aberration correction is performed on the displacement. Further correction of the visible planet position vector is required to address this problem. Suppose the observation time is tk，k＝1,2...,NobsThe unit vector of each measurement direction is
Figure GDA0002439386450000131
k＝1,2...,Nobs. Since the detector cannot determine its own distance from the sun and the earth, only the position vector R of the observation visible planets is knownkAnd unit vector of observation direction relative to visible planets
Figure GDA0002439386450000132
Thus based on time tk-δtkSolving for a visible planet true position vector, where δ tkIs the time required for light to reach the detector from the visible planet. First determine δ tkAs shown in equation (18):
Figure GDA0002439386450000133
where c represents the speed of light. The position vector of the planet is corrected as shown in equation (19):
Rupdated＝R(tk-δtk) (19)
the update of the visible planetary position vector is determined by equations (18) and (19), i.e., the correction of the visible planetary position vector is completed.
Step 4.2: correcting the angular position observation information in step 2 as shown in equation (7) by the relative velocity information between the visible planets and the probe results in a more accurate measurement model.
Defining probe velocity direction and observation direction
Figure GDA0002439386450000141
Angle therebetween is thetaobsAnd the distortion angle between the real direction and the observation direction is epsilon, the corrected real celestial body observation direction meets the precision requirement
Figure GDA0002439386450000142
As shown in equation (20):
Figure GDA0002439386450000143
wherein:
Figure GDA0002439386450000144
is the unit vector of the probe velocity, θtrueIs the angle between the speed of the probe and the true direction of observation, and θtrue＝θobs+ ε. The distortion angle epsilon at different times is expressed in the form of equation (21):
Figure GDA0002439386450000145
wherein: c and v represent the magnitude of the speed of light and the magnitude of the detector speed, respectively.
The relationship between the observed direction and the true direction is shown in equation (22),
Figure GDA0002439386450000146
the included angle between the visual line direction of the visible planet and the detector and the speed vector of the detector are known, so that the real observation direction can be solved through a formula (22), and a corrected real measurement model is obtained by combining a formula (7), so that the optical aberration effect correction is completed.
And 5: and (4) resolving real-time state information of the detector based on a nonlinear system filtering algorithm according to the dynamic model of the detector in the step (1), the initial orbit of the detector determined in the step (3) and the real measurement model corrected in the step (4), and realizing real-time navigation.
And (4) estimating the state of the detector through navigation filtering according to the dynamic model of the cruise section detector obtained in the step (1), the initial track of the detector determined in the step (3) and the real measurement model corrected in the step (4). Because the dynamic model and the measurement model are both nonlinear, a nonlinear filter is selected, and in order to further improve the navigation filtering precision and the convergence speed, the nonlinear filter preferably selects Extended Kalman Filtering (EKF). And resolving the real-time state information of the detector to realize real-time navigation.
The earth is a visible celestial body which runs around the sun, the earth is selected as the observed visible celestial body, and the detector conducts navigation through the observed earth. Number of times for observation N for initial track determination sectionobsTime interval T of 3 × 10, 84And s. The focal length of the navigation camera is 200mm, the field angle is 3 degrees, the resolution is 1024 multiplied by 1024, the image processing precision is 0.1 pixel, and the camera measurement error is sigmac＝10-4rad, attitude deviation θ1,2＝10-4And (7) rad. Considering the time of planning and scheduling the detector and processing the measurement information, the filtering period is taken as delta T being 1500s, and the simulation time is taken as T being 1.5 multiplied by 105And s. Error of initial position of detector is 105km, a velocity error of 10km/s, initial position and velocity vectors (R and V) of the probe, initial position and velocity vectors (R and V) of the earth are shown in table 1,
TABLE 1 initial State simulation parameters
Figure GDA0002439386450000151
The numerical simulation results of the cruise autonomous navigation method based on the position deviation correction are respectively shown in fig. 2, and navigation estimation error curves of the position and the speed of the detector are respectively given in the numerical simulation results. The simulation result shows that the corrected navigation method has higher navigation precision and faster filtering convergence speed, can realize real-time estimation on the position and speed of the detector, and finally obtains high-precision state estimation information.
The scope of the present invention is not limited to the embodiments, which are only used for explaining the present invention, and all changes or modifications that are within the same principle and concept of the present invention are within the scope of the present invention disclosed.

Claims (4)

1. A cruise section autonomous navigation position deviation correction method is characterized by comprising the following steps: comprises the following steps of (a) carrying out,
step 1: establishing a dynamic model of a cruise section detector;
the detector moves in a solar system and is mainly acted by a solar gravitational field, and the dynamics of the detector meets a Kepler two-body equation; in order to accurately establish a dynamic model of the detector in a cruise section as far as possible, the influence of gravity of a large planet, the influence of solar light pressure perturbation and the thrust factor of the detector are considered in a model perturbation term, so that the dynamic equation expression of the detector in a heliocentric inertial coordinate system is shown as a formula (1):
Figure FDA0002439386440000011
where r and v represent the position and velocity vectors of the probe, respectively;
Figure FDA0002439386440000012
is the position vector of the ith perturbation planet;
Figure FDA0002439386440000013
as a position vector of the ith perturbation planet relative to the detector, i.e.
Figure FDA0002439386440000014
μsIs the constant of solar attraction, muiFor the ith perturbation rowThe gravitational constant of the star; n istThe number of perturbation planets; cRIs the reflection coefficient of the detector surface, SsrpThe solar radiation light pressure factor is adopted, m is the mass of the detector, k is the thrust coefficient, and the last term a represents other unmodeled accelerated speeds;
the position and speed of the detector are selected as state variables, then
Figure FDA0002439386440000015
The state equation of the detector is shown in equation (2):
Figure FDA0002439386440000016
step 2: establishing an autonomous navigation measurement model of a cruise section;
the imaging process of the camera adopts a model of pinhole imaging to define the centroid f of the visible planets1Position coordinate r in the camera coordinate systemp＝[xcyczc]TThen, the original pixel coordinates in the camera image plane are as shown in formula (3):
Figure FDA0002439386440000017
wherein: f is the focal length of the camera, zcIs the distance of the target point to the camera imaging plane along the camera reference line;
the camera coordinate system coincides with the detector body system, taking into account attitude deviations during the camera measurement, i.e. defining xc,ycThe attitude deviation of the direction is theta1,θ2Then, random rotation during the camera measurement will affect the position measurement of the feature point, so the actual position coordinate is shown in formula (4):
Figure FDA0002439386440000021
because the deviation of the attitude angle is small, the method is simplified into the formula (5)
Figure FDA0002439386440000022
Neglecting the denominator effect, we simplify to equation (6):
Figure FDA0002439386440000023
selecting the angular position of the center of mass of the visible planet as the observed quantity of the camera, i.e. the measurement vector Z comprises the azimuth angle
Figure FDA0002439386440000024
And a pitch angle
Figure FDA0002439386440000025
As shown in equation (7):
Figure FDA0002439386440000026
wherein:
Figure FDA00024393864400000210
and upsilonφThe measurement noise of the pitch angle and the azimuth angle is represented respectively, and the vector of the centroid position of the planet is shown as R, so that the pitch angle and the azimuth angle are calculated as shown in formula (8):
Figure FDA0002439386440000027
and step 3: determining an initial track of the detector;
Nobsthe initial track determination problem for the secondary observation is written in the form shown in equation (9):
Figure FDA0002439386440000028
wherein: r isk，RkRespectively for the kth spacecraft and the visible linePosition vectors of stars under the centroid inertial system; unknown distance ρkIs the amount to be requested,
Figure FDA0002439386440000029
a unit line-of-sight vector representing the detector to the visible planets; will wait for the quantity rhokExpressed in the form of high-order polynomial, and solving the quantity rho to be solved which satisfies the constraint of the formula (9) by a fitting methodkDetermining the initial orbit of the detector;
and 4, step 4: correcting the optical line difference effect;
correcting the position vector of the visible planet through the relative position information between the visible planet and the detector; correcting the angular position observation information shown in a formula (7) in the step 2 through the relative speed information between the visible planet and the detector, so as to obtain a more accurate real observation model after correction, namely finishing the optical aberration effect correction;
and 5: resolving real-time state information of the detector based on a nonlinear system filtering algorithm according to the dynamic model of the detector in the step 1, the initial track of the detector determined in the step 3 and the real measurement model corrected in the step 4, and realizing real-time navigation;
estimating the state of the detector through navigation filtering according to the cruise section detector dynamic model obtained in the step 1, the detector initial orbit determined in the step 3 and the real measurement model corrected in the step 4; because the dynamic model and the measurement model both present nonlinearity, a nonlinear filter is selected to resolve the real-time state information of the detector, and real-time navigation is realized.
2. The cruise control autonomous navigation position deviation correction method according to claim 1, characterized in that: the specific implementation method of the step 4 is as follows,
step 4.1: correcting the position of the visible planet through the relative position information between the visible planet and the detector;
the optical aberration correction refers to the displacement generated between the real position and the observation position of the celestial body due to the movement of the celestial body in the process that light reaches the detector, and the optical aberration correction is carried out; needleCorrecting the displacement between the real position of the celestial body and the observation position, and further correcting the visible planet position vector; defining the observation time as tk，k＝1,2...,NobsThe unit vector of each measurement direction is
Figure FDA0002439386440000031
Since the detector cannot determine its own distance from the sun and the earth, only the position vector R of the observation visible planets is knownkAnd unit vector of observation direction relative to visible planets
Figure FDA0002439386440000032
Thus based on time tk-δtkSolving for a visible planet true position vector, where δ tkIs the time required for light to reach the detector from the visible planet; first determine δ tkAs shown in equation (18):
Figure FDA0002439386440000033
wherein c represents the speed of light; the position vector of the planet is corrected as shown in equation (19):
Rupdated＝RK(tk-δtk) (19)
the updating of the visible planetary position vector is determined by equations (18) and (19), i.e. the correction of the visible planetary position vector is completed;
step 4.2: correcting the angular position observation information shown in the formula (7) in the step 2 through the relative speed information between the visible planet and the detector to obtain a more accurate measurement model;
defining probe velocity direction and observation direction
Figure FDA0002439386440000041
Angle therebetween is thetaobsAnd the distortion angle between the real direction and the observation direction is epsilon, the corrected real celestial body observation direction meets the precision requirement
Figure FDA0002439386440000042
As shown in equation (20):
Figure FDA0002439386440000043
wherein:
Figure FDA0002439386440000044
is the unit vector of the probe velocity, θtrueIs the angle between the speed of the probe and the true direction of observation, and θtrue＝θobs+ ε; the distortion angle epsilon at different times is expressed in the form of equation (21),
Figure FDA0002439386440000045
wherein: c and v represent the light speed and the detector speed respectively;
the relationship between the observed direction and the true direction is shown in equation (22),
Figure FDA0002439386440000046
the included angle between the visual line direction of the visible planet and the detector and the speed vector of the detector are known, so that the real observation direction can be solved through the formula (22), and a real measurement model after correction is obtained by combining the formula (7), so that the optical aberration correction is completed.
3. A cruise control autonomous navigation position deviation correction method according to claim 1 or 2, characterized in that:
in order to further improve the solving efficiency and the solving precision of the initial orbit determination of the detector in the step 3, the quantity rho to be solved is obtained in the step 3kExpressed in the form of a third-order polynomial, and solving the quantity rho to be solved which satisfies the constraint of the formula (9) by a least square fitting methodkIs selected as followsThe method is realized as follows:
to-be-solved quantity rhokThe three-axis components in the centroid inertial system are shown in equation (10):
Figure FDA0002439386440000051
taking into account the form of the third-order polynomial, equation (10) is expressed in the form shown as equation (11):
Figure FDA0002439386440000052
equation (11) should also satisfy the geometric constraints in equation (9), and therefore,
Figure FDA0002439386440000053
tkrepresents the measurement time of the k-th time; moving the equation in equation (12) from left to right, the residual is defined as shown in equation (13):
Figure FDA0002439386440000054
equation (13) is further expressed in the form shown in equation (14):
Figure FDA0002439386440000055
to get the best fit, the coefficients a of the polynomial fit need to be adjustedi，biAnd ciSo that the residual phi isx,φyAnd phi iszThe minimum, so that there are,
Figure FDA0002439386440000056
therefore, the coefficients in the polynomial to be solved are determined by a fitting method, and in order to further improve the solving efficiency, a least square method is selected to determine the coefficients in the polynomial to be solved, such as formula (16):
Figure FDA0002439386440000061
{a}＝{a1a2a3a4}T，{b}＝{b1b2b3b4}T，{c}＝{c1c2c3c4}Tthe 4 × 4 matrix T is as in formula (17):
Figure FDA0002439386440000062
up to this point, the coefficients of the third-order polynomial shown in equation (11) have all been solved, and the required quantity ρ meeting the accuracy requirement can be obtained from the coefficientskThe determination of the initial orbit of the detector is completed.
4. A cruise control autonomous navigation position deviation correction method according to claim 1 or 2, characterized in that: the nonlinear filter in the step 5 is Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), Model Prediction Filter (MPF) or Particle Filter (PF).
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