CN110286371A - Method is determined based on the small feature loss lander relative pose of radar dot array data - Google Patents
Method is determined based on the small feature loss lander relative pose of radar dot array data Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
- G01S13/874—Combination of several systems for attitude determination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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Abstract
Small feature loss lander relative pose disclosed by the invention based on radar dot array data determines method, belongs to field of deep space exploration.Implementation method of the present invention are as follows: acquisition radar dot array data establishes radar dot matrix data model.Unit direction vector of three axis of local navigational coordinate system under body coordinate system is solved according to the radar dot matrix data model of foundation, and according to the coordinate conversion matrix of unit direction vector foundation local navigational coordinate system of three axis under body coordinate system to lander body coordinate system；Position and posture of the lander under local navigational coordinate system are solved according to the radar dot matrix data model of foundation and coordinate conversion matrix；Position and the gesture stability that lander is carried out using position of the lander of solution under local navigational coordinate system and posture realize the precision landing of lander to destination sample point.The present invention can design for small feature loss landing sampling task navigation scheme and provide technical support and reference, and solve the problems, such as correlation engineering.
Description
Technical field
The present invention relates to a kind of small feature loss lander relative poses to determine method, belongs to field of deep space exploration.
Background technique
Small feature loss lander is in landing mission it needs to be determined that the position and speed and posture of itself relative target sampled point
Information, this information are to realize accurate rail control, make detector arrive safe and sound sampled point premise and guarantor that Mission Success is implemented
Barrier.The pose of lander determines and generally realizes by optical guidance that is, spaceborne optical device shoots touchdown area image, will shoot
Image and small feature loss whole world terrain data storehouse matching, determine the position of characteristic point in the database in image, then with characteristic point
Sight vector be navigational reference information, be filtered estimation in conjunction with landing dynamics.This method complex steps, it is computationally intensive,
It is not able to satisfy the demand that small feature loss lands to real-time and reliability.This patent is intended to invent a kind of without matching, being not necessarily to filtering
The lander relative target point pose of estimation determines method, provides Technical Reference for future small celestial body exploration engineering.
Summary of the invention
It is disclosed by the invention that the method technology to be solved is determined based on radar dot array data small feature loss lander relative pose
Problem are as follows: the distance dot matrix data within the scope of the predetermined field of view obtained using radar surveying provide a kind of small feature loss lander phase
Method is determined to pose, has not only avoided the matching of measurement data and global topographic database, but also avoids filtering from estimating, while can also
Obtain position and the posture information of lander relative target sampled point.The present invention can be small feature loss landing sampling task navigation side
Case design provides technical support and reference, and solves the problems, such as correlation engineering.
The purpose of the present invention is what is be achieved through the following technical solutions.
Small feature loss lander relative pose disclosed by the invention based on radar dot array data determines method, acquires radar points
Battle array data, establish radar dot matrix data model.The three of local navigational coordinate system are solved according to the radar dot matrix data model of foundation
Unit direction vector of the axis under body coordinate system, and locality is established according to unit direction vector of three axis under body coordinate system
Coordinate conversion matrix of the navigational coordinate system to lander body coordinate system.Turned according to the radar dot matrix data model of foundation and coordinate
Change position and posture of the Matrix Solving lander under local navigational coordinate system.Using the lander of solution in local navigation coordinate
Position and posture under system carry out position and the gesture stability of lander, realize the precision landing of lander to destination sample point.
Small feature loss lander relative pose disclosed by the invention based on radar dot array data determines method, including walks as follows
It is rapid:
Step 1: acquisition radar dot array data establishes radar dot matrix data model.
The contained radar field angle of lander is θ, and in the field range of θ × θ, radar beam is radiated at small feature loss surface simultaneously
Receive return signal, measure the distance that detector is arrived at small day surface any point within the scope of θ × θ, due to the measurement resolution of radar
Rate R × R, therefore it is range data of the lander with respect to R × R point that radar measured data is practical, as shown in formula (1).
In formula, ρiDistance for lander with respect to i-th point in dot matrix, xi、yi、ziIt is sat for i-th point in lander ontology
Location components under mark.Since installation direction matrix of the radar under lander body coordinate system is known, radar points
Orientation n of each point under body coordinate system in battle arrayiIt is known that each point is under body coordinate system in convolution (1) calculating dot matrix
Three-dimensional position vector, this data be establish radar dot matrix data model, as shown in formula (2).
ri=ρiniI=1,2 ... R × R (2)
Step 2: being sat according to three axis that the radar dot matrix data model that step 1 is established solves local navigational coordinate system in ontology
Unit direction vector under mark system, and local navigational coordinate system is established according to unit direction vector of three axis under body coordinate system
To the coordinate conversion matrix of lander body coordinate system.
In the corresponding small feature loss surface point of radar dot array data, destination sample point is first point P1, remove first point P1
Except, then select two point Pi、Pj, it is desirable that P1、Pi、PjIt is not conllinear.Local coordinate origin is established in destination sample point P1, x-axis by
P1It is directed toward Pi, the vertical P of z-axis1、Pi、PjThe plane of composition, y-axis constitute right hand rectangular coordinate system.Then three axis of local navigational coordinate system
Unit direction vector under body coordinate system are as follows:
vy=vz×vx (5)
According to the coordinate conversion matrix of the local navigational coordinate system of formula (3)~(5) foundation to lander body coordinate system are as follows:
T=[vx vy vz] (6)
Step 3: the coordinate conversion matrix in radar dot matrix data model and step 2 established according to step 1, which solves, to land
Position and posture of the device under local navigational coordinate system.
Destination sample point P1It is r in the position vector of lander body coordinate system1, then lander relative target sampled point exists
Position vector under local navigational coordinate system are as follows:
R=-T-1·r1 (7)
Three attitude angles of the lander under local coordinate system are respectively α, β, γ, then corresponding local navigational coordinate system arrives
Coordinate conversion matrix expression formula under lander body coordinate system are as follows:
Simultaneous equations (6) and equation (8) can acquire three attitude angles α, β, γ by solving Nonlinear System of Equations.
Preferably, Nonlinear System of Equations acquires three attitude angles in selection nonlinear planning solution algorithm solution procedure 3
α, β, γ obtain the solution of the Nonlinear System of Equations of degree of precision.
Further include step 4: position and posture of the lander solved using step 3 under local navigational coordinate system are carried out
The position of land device and gesture stability realize the precision landing of lander to destination sample point.
Beneficial effect
1, the small feature loss lander relative pose disclosed by the invention based on radar dot array data determines method, passes through radar
Dot array data can determine position and posture of the lander under local navigational coordinate system, meet landing task to detector's status
Determining demand.
2, the small feature loss lander relative pose disclosed by the invention based on radar dot array data determines method, utilizes radar
Position and posture of the dot array data direct solution lander under local navigational coordinate system, without with terrain data storehouse matching,
Without filtering estimation procedure, can simplify state determine step, reduce state determine calculation amount, improve lander position with
Posture determines efficiency, and then meets the requirement of real-time of small feature loss lander position and gesture stability.
Detailed description of the invention
Fig. 1 determines method flow diagram for the small feature loss lander relative pose based on radar dot array data；
Fig. 2 is the state error variation in specific embodiment under local navigational coordinate system, wherein (a) is lander away from mesh
The direction punctuate x range error, (b) for lander away from the direction target point y range error, (c) for lander away from the direction target point z away from
From error, (d) lander pitching angle error (e) yaws angle error for lander, (f) is lander rolling angle error.Wherein bow
The elevation angle, yaw angle and roll angle have general definition in spacecraft attitude dynamics, and versatility is stronger, is specifically defined herein
It repeats no more.
Specific embodiment
Objects and advantages in order to better illustrate the present invention with reference to the accompanying drawings and examples do into one summary of the invention
Walk explanation.
As shown in Figure 1, this example determines method for small feature loss landing relative pose, it is based on radar dot matrix metrical information,
Position and the posture information for resolving lander relative target sampled point realize that pose of the lander in landing mission determines.This
The disclosed small feature loss lander relative pose based on radar dot array data of example determines that method, specific implementation method are as follows:
Step 1: acquisition radar dot array data establishes radar dot matrix data model.
The contained radar field angle of lander is 8 °, and in 8 ° × 8 ° of field range, radar beam is radiated at small feature loss table
Face simultaneously receives return signal, measurement 8 ° × 8 ° within the scope of small day surface any point to detector distance, due to the survey of radar
Measuring resolution ratio is 1024 × 1024, therefore it is distance number of the lander with respect to 1024 × 1024 points that radar measured data is practical
According to as shown in formula (1).
In formula, ρiDistance for lander with respect to i-th point in dot matrix, xi、yi、ziIt is sat for i-th point in lander ontology
Location components under mark.Since installation direction matrix of the radar under lander body coordinate system is known, radar points
Orientation n of each point under body coordinate system in battle arrayiIt is known that each point is under body coordinate system in convolution (1) calculating dot matrix
Three-dimensional position vector, this data be establish radar dot matrix data model, as shown in formula (2).
ri=ρiniI=1,2 ... 1024 × 1024 (2)
Step 2: being sat according to three axis that the radar dot matrix data model that step 1 is established solves local navigational coordinate system in ontology
Unit direction vector under mark system, and local navigational coordinate system is established according to unit direction vector of three axis under body coordinate system
To the coordinate conversion matrix of lander body coordinate system.
In the corresponding small feature loss surface point of radar dot array data, destination sample point is first point P1, remove first point P1
Except, then select two point Pi、Pj, it is desirable that P1、Pi、PjIt is not conllinear.Local coordinate origin is established in destination sample point P1, x-axis by
P1It is directed toward Pi, the vertical P of z-axis1、Pi、PjThe plane of composition, y-axis constitute right hand rectangular coordinate system.Then three axis of local navigational coordinate system
Unit direction vector under body coordinate system are as follows:
vy=vz×vx (5)
According to the coordinate conversion matrix of the local navigational coordinate system of formula (3)~(5) foundation to lander body coordinate system are as follows:
T=[vx vy vz] (6)
Step 3: the coordinate conversion matrix in radar dot matrix data model and step 2 established according to step 1, which solves, to land
Position and posture of the device under local navigational coordinate system.
Destination sample point P1It is r in the position vector of lander body coordinate system1, then lander relative target sampled point exists
Position vector under local navigational coordinate system are as follows:
R=-T-1·r1 (7)
Three attitude angles of the lander under local coordinate system are respectively α, β, γ, then corresponding local navigational coordinate system arrives
Coordinate conversion matrix expression formula under lander body coordinate system are as follows:
Simultaneous equations (6) and equation (8) can acquire three attitude angles α, β, γ by solving Nonlinear System of Equations.
Nonlinear System of Equations acquires three attitude angles α, β, γ in selection nonlinear planning solution algorithm solution procedure 3, obtains
To the solution of the Nonlinear System of Equations of degree of precision.
Simulation parameter setting in this example is as shown in table 1.
The setting of 1 simulation parameter of table
| Parameter name | Mean value |
| Lander initial position (m) | (16, -15,180) |
| Lander initial estimation speed (m/s) | (- 0.01,0.01, -0.10) |
| Lander initial attitude (°) | (- 21, -22, -4) |
| Radar dot matrix range accuracy | The 0.1% of distance |
The position and posture essence that method obtains are determined using the small feature loss lander relative pose based on radar dot array data
Degree is as shown in table 2
The navigation accuracy of table 2
From Fig. 2 and table 2 as can be seen that using the small feature loss lander relative pose determination side based on radar dot array data
Method can obtain the equal energy of position and posture of lander relative target sampled point, and x-axis and y-axis position precision are higher, are better than
0.1m, z-axis position precision is slightly lower, is better than 1m, and reason is that the measurement error in z-axis direction is larger, and attitude accuracy is about 0.2 °.It is imitative
True result illustrates that the small feature loss lander relative pose based on radar dot array data determines method, can accurately obtain lander phase
Pair position and posture information, and avoid observation and the matching of database and filtering estimation procedure.
Above-described specific descriptions have carried out further specifically the purpose of invention, technical scheme and beneficial effects
It is bright, it should be understood that the above is only a specific embodiment of the present invention, the protection model being not intended to limit the present invention
It encloses, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (6)
1. the small feature loss lander relative pose based on radar dot array data determines method, it is characterised in that: include the following steps,
Step 1: acquisition radar dot array data establishes radar dot matrix data model；
Step 2: the radar dot matrix data model established according to step 1 solves three axis of local navigational coordinate system in body coordinate system
Under unit direction vector, and local navigational coordinate system is established according to unit direction vector of three axis under body coordinate system and is arrived
The coordinate conversion matrix of land device body coordinate system；
Step 3: the coordinate conversion matrix in radar dot matrix data model and step 2 established according to step 1 solves lander and exists
Position and posture under local navigational coordinate system.
2. determining method, feature based on the small feature loss lander relative pose of radar dot array data as described in claim 1
It is: further includes step 4, position of the lander solved using step 3 under local navigational coordinate system is landed with posture
The position of device and gesture stability realize the precision landing of lander to destination sample point.
3. method is determined based on the small feature loss lander relative pose of radar dot array data as claimed in claim 1 or 2, it is special
Sign is: step 1 implementation method is,
The contained radar field angle of lander is θ, and in the field range of θ × θ, radar beam is radiated at small feature loss surface and receives
Return signal, measure θ × θ within the scope of small day surface any point to detector distance, due to radar Measurement Resolution R ×
R, therefore it is range data of the lander with respect to R × R point that radar measured data is practical, as shown in formula (1):
In formula, ρiDistance for lander with respect to i-th point in dot matrix, xi、yi、ziFor i-th point under lander ontology coordinate
Location components；Due to installation direction matrix of the radar under lander body coordinate system be it is known, in radar dot matrix
Orientation n of each point under body coordinate systemiIt is known that convolution (1) calculate dot matrix in each point under body coordinate system three
Position vector is tieed up, this data is the radar dot matrix data model established, as shown in formula (2):
ri=ρiniI=1,2 ... R × R (2)
4. determining method, feature based on the small feature loss lander relative pose of radar dot array data as claimed in claim 3
Be: step 2 implementation method is,
In the corresponding small feature loss surface point of radar dot array data, destination sample point is first point P1, remove first point P1It
Outside, two point P are selected theni、Pj, it is desirable that P1、Pi、PjIt is not conllinear；Local coordinate origin is established in destination sample point P1, x-axis is by P1
It is directed toward Pi, the vertical P of z-axis1、Pi、PjThe plane of composition, y-axis constitute right hand rectangular coordinate system；Then three axis of local navigational coordinate system
Unit direction vector under body coordinate system are as follows:
vy=vz×vx (5)
According to the coordinate conversion matrix of the local navigational coordinate system of formula (3)~(5) foundation to lander body coordinate system are as follows:
T=[vx vy vz] (6)
5. determining method, feature based on the small feature loss lander relative pose of radar dot array data as claimed in claim 4
Be: step 3 implementation method is,
Destination sample point P1It is r in the position vector of lander body coordinate system1, then lander relative target sampled point is in locality
Position vector under navigational coordinate system are as follows:
R=-T-1·r1 (7)
Three attitude angles of the lander under local coordinate system are respectively α, β, γ, then corresponding local navigational coordinate system to landing
Coordinate conversion matrix expression formula under device body coordinate system are as follows:
Simultaneous equations (6) and equation (8) can acquire three attitude angles α, β, γ by solving Nonlinear System of Equations.
6. determining method, feature based on the small feature loss lander relative pose of radar dot array data as claimed in claim 5
Be: selection nonlinear planning solution algorithm solution procedure 3 in Nonlinear System of Equations acquire three attitude angles α, β, γ, obtain compared with
The solution of high-precision Nonlinear System of Equations.
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| CN116068549A (en) * | 2023-03-06 | 2023-05-05 | 中国人民解放军32035部队 | On-orbit spacecraft instantaneous attitude inversion method based on ground-based light thunder image fusion |
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| CN116068549B (en) * | 2023-03-06 | 2023-06-06 | 中国人民解放军32035部队 | On-orbit spacecraft instantaneous attitude inversion method based on ground-based light thunder image fusion |
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Application publication date: 20190927 |