小天体附着相对导航观测序列规划及试验  

Relative Navigation Observation Sequence Planning for Small Body Attachment and Its Experiment

作　　者：李嘉兴 王大轶[1] 邓润然 葛东明[1] 董天舒 LI Jiaxing;WANG Dayi;DENG Runran;GE Dongming;DONG Tianshu(Beijing Institute of Spacecraft System Engineering,Beijing 100094,China)

机构地区：[1]北京空间飞行器总体设计部,北京100094

出　　处：《深空探测学报（中英文）》2024年第3期295-303,共9页Journal Of Deep Space Exploration

基　　金：国家重点研发计划项目(2019YFA0706500);国家自然科学基金(U20B2055,61525301)。

摘　　要：针对小天体附着探测过程中受计算资源限制,序列图像自主相对导航系统难以处理大量光学图像信息的问题,提出一种相对导航观测序列规划的方法,基于Fisher信息矩阵建立了描述陆标观测精度的可观测度指标,并以此为指导设计了观测序列的规划策略,优选出关键观测时刻。为验证相对导航方法的有效性,搭建了小天体附着试验平台,通过8根绳索并联牵引载荷平台实现着陆器6自由度附着运动的模拟。最后在试验平台搭载可见光相机实现小天体附着相对导航的半物理仿真试验,在高精度相对导航的同时大幅降低了导航系统的计算负担,研究将为小天体工程的实施提供支持。In the process of small body attachment detection,due to the limitation of computational resources,it is difficult for the sequence image autonomous relative navigation system to process a large amount of optical image information.In this paper,a relative navigation observation sequence planning method is proposed,and an observable measurement index describing the observation accuracy of the landmark is established based on the Fisher information matrix,which is used as an index to design the observation strategy for the preferred selection of the key observation moments.In order to verify the validity of the relative navigation method,a small body attachment experiment platform is constructed,and the 6-degree-of-freedom attachment motion simulation of the lander is realized by pulling the load platform with 8 ropes in parallel.Finally,a visible light camera is mounted on the experimental platform to realize the semi-physical simulation of the relative navigation of small body attachment,which greatly reduces the computational burden of the navigation system while providing high-precision relative navigation.It will provide reference for the asteorid project in the future.

关 键 词：小天体附着 相对导航 序列图像 观测规划 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]