Non-linear Dynamics Method to Angles-Only Navigation for Non-cooperative Rendezvous of Spacecraft  

基于非线性动力学法的航天器非合作交会仅测角导航

作　　者：DU Ronghua LIAO Wenhe ZHANG Xiang 杜荣华;廖文和;张翔(南京理工大学机械工程学院,南京210094)

机构地区：[1]College of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,P.R.China

出　　处：《Transactions of Nanjing University of Aeronautics and Astronautics》2022年第4期400-414,共15页南京航空航天大学学报（英文版）

基　　金：supported by the China Aerospace Science and Technology Corporation Eighth Research Institute Industry-University-Research Cooperation Fund(No.SAST 2020-019)。

摘　　要：Aiming at the problem of relative navigation for non-cooperative rendezvous of spacecraft,this paper proposes a new angles-only navigation architecture using non-linear dynamics method. This method does not solve the problem of poor observability of angles-only navigation through orbital or attitude maneuvering,but improves the observability of angles-only navigation through capturing the non-linearity of the system in the evolution of relative motion. First,three relative dynamics models and their corresponding line-of-sight(LoS)measurement equations are introduced,including the rectilinear state relative dynamics model,the curvilinear state relative dynamics model,and the relative orbital elements(ROE)state relative dynamics model. Then,an observability analysis theory based on the Gramian matrix is introduced to determine which relative dynamics model could maximize the observability of angles-only navigation. Next,an adaptive extended Kalman filtering scheme is proposed to solve the problem that the angles-only navigation filter using the non-linear dynamics method is sensitive to measurement noises. Finally,the performances of the proposed angles-only navigation architecture are tested by means of numerical simulations,which demonstrates that the angles-only navigation filtering scheme without orbital or attitude maneuvering is completely feasible through improving the modeling of the relative dynamics and LoS measurement equations.针对航天器非合作交会中的相对导航问题,提出了一种基于非线性动力学法的仅测角导航的新架构。该方法没有通过轨道或姿态机动来解决仅测角导航可观性较差的问题,而是通过捕捉系统在相对运动演变中的非线性来提高仅测角导航系统的可观性。首先,介绍了3种相对动力学模型及其对应的视线(Line-of-sight,LoS)测量方程,包括直线状态相对动力学、曲线状态相对动力学和相对轨道根数(Relative orbital elements,ROE)状态相对动力学模型。然后,引入了基于Gramian矩阵的可观性分析理论用于确定哪个相对动力学模型可以最大化仅测角导航的可观性。接着,介绍了一种自适应扩展Kalman滤波方案,用以解决非线性动力学法中仅测角导航滤波器对测量噪声非常敏感的问题。最后,通过数值仿真的手段对提出的仅测角导航滤波架构进行了测试和验证,证明了通过改进相对动力学和LoS测量模型,无机动的仅测角导航是完全可行的。

关 键 词：angles-only navigation non-linear dynamics observability analysis non-cooperative rendezvous adaptive Kalman filter 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]