基于路标信息的绕飞小天体探测器自主光学导航方法研究  

Autonomous Optical Navigation for Spacecraft Around Small Celestial Bodies Based on Landmarks

作　　者：朱圣英[1] 崔祜涛[2] 崔平远[1,2] 

机构地区：[1]北京理工大学深空探测技术研究所,北京100081 [2]哈尔滨工业大学深空探测基础研究中心,黑龙江哈尔滨150001

出　　处：《电子学报》2010年第9期2052-2058,共7页Acta Electronica Sinica

基　　金：国家自然科学基金(No.60874094)

摘　　要：小天体表面存在大量的弹坑地形特征,具有较高的可见性与可分辨性,本文对以这类地形为导航路标的小天体绕飞自主光学导航方法进行了研究.针对轨道动力学模型的不确知与强非线性问题,提出了一种利用高斯-马尔科夫过程和Unscented卡尔曼滤波的导航滤波算法,以提高轨道确定精度和保证算法的稳定性.考虑导航路标位置几何分布对轨道确定精度的影响,利用观测矩阵的奇异值、条件数对导航系统可观测度进行分析,给出了导航路标选取的基本准则.最后,通过数学仿真对自主导航系统性能进行分析,验证了自主导航方法的有效性.Due to abundant craters which are clearly visible and distinguishable existing on surface of small celestial bodies,an autonomous optical navigation algorithm based on navigation landmark using craters for spacecraft around small celestial bodies is discussed.For the problems arising from evidently uncertainty and strongly nonlinear of orbit dynamics models,an autonomous optical navigation algorithm using the Gauss-Markov process and Unscented kalman filter is presented to improve the precision of orbit estimation and ensure the stability of algorithm.Considering the landmarks geometry configuration has great effect in influencing orbit determination precision,singular value and condition number of observation matrix is utilized to analyzing the observability of navigation system,and a novel landmark selecting rule is proposed to improve the precision of orbit estimation.Finally,effectiveness of the proposed autonomous navigation algorithm performance is validated using the numerical simulation.

关 键 词：自主导航 绕飞小天体 导航路标 高斯-马尔科夫过程 几何分布 可观测度分析 

分 类 号：V448.224[航空宇航科学与技术—飞行器设计]