深空自主导航方法研究及在小天体探测中的应用
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摘要
自主导航技术作为深空探测的关键技术之一,直接影响着各项科学考察任务的成功实施,同时能够简化探测器的地面支持系统,扩展探测器在空间的应用潜力。本学位论文结合国家自然科学基金资助项目“深空探测自主导航理论与方法研究”,针对深空探测各飞行阶段的特点,深入研究了相关的自主导航方法。论文的主要研究内容包括:
首先,研究了深空自主导航系统的可观测性分析方法。针对深空环境的特点,利用几何方法给出了不同观测信息对应的探测器位置面;通过求取观测方程对状态变量的偏导数,利用解析方法定性分析了自主导航系统的可观测性;从自主导航系统的可观测性矩阵、误差方差阵和费歇尔信息阵三个方面研究了系统的可观测性条件和可观测度定义,并给出了状态变量的可观测度分析方法。
其次,针对深空探测巡航段,研究了基于小行星图像信息的自主导航方法。以小行星图像提取出的视线矢量为观测模型,结合自主导航系统的最优误差方差阵和费歇尔信息阵,深入分析了不同视线矢量数目下自主导航系统的可观测性;分析导航小行星筛选准则,并利用费歇尔信息阵定义的自主导航系统的可观测度给出导航小行星列表,通过基于UD分解的递推加权最小二乘算法来确定探测器轨道;考虑到利用小行星图像背景恒星信息的姿态确定问题,给出了一种基于视线矢量的快速最优姿态估计算法。
接着,考虑到利用光学图像信息的自主导航方法在深空巡航段应用中的限制条件,研究了基于太阳观测的自主导航方法。对于以太阳视线矢量为观测量的自主导航系统,在系统可观测度分析的基础上,给出了一种利用三次太阳视线矢量测量的初始轨道确定方法;同时,对太阳视线矢量与径向速度组合测量的基于太阳信息自主导航方法进行了仿真分析;进一步,将太阳视线矢量与光学图像信息相结合,研究了基于视线信息的自主导航方法,并给出了一种基于可观测度的信息融合自主导航算法;在分析矢量观测姿态估计误差的基础上,研究了太阳视线矢量在深空巡航段姿态最优估计中的应用。
然后,研究了小天体探测任务接近交会段的自主导航方法。建立了接近段自主导航系统的状态方程和观测方程,利用解析方法定性分析了以探测器至目标天体视线矢量为观测量的导航系统的可观测性;考虑到目标天体的星历信息,分别研究了以相对视线矢量和太阳视线矢量为观测量的自主导航方法;针对交会段,给出了简化的相对运动轨道动力学模型,并针对相对速度大小已知、方向未知和大小方向均已知两种情况分别给出了相对位置矢量确定算法,进而给出了一种基于视线矢量的相对导航方法。
最后,研究了小天体探测任务绕飞段和着陆段的自主导航方法。针对绕飞段,提出了一种基于小天体边缘特征点矢量观测的自主导航方法,利用光学相机和高度计测量三个边缘特征点相对探测器的位置矢量,结合事先建立的小天体形状模型,从而直接得到小天体固联坐标系下探测器的相对位置和姿态信息,并给出了一种利用高斯-马尔科夫过程和Unscented卡尔曼滤波的导航算法;针对小天体着陆任务,给出了一种基于表面特征点矢量观测的自主导航方法,利用光学相机和激光测距仪得到三个非共线特征点图像信息和探测器至特征点的距离来确定探测器相对着陆点坐标系的位置矢量和姿态信息,并利用扩展卡尔曼滤波算法来实时估计探测器的轨道。
As a key technology, the autonomous navigation influences directly the mission’s success. Spacecraft autonomous navigation can reduce the operational complexity of the ground-assisted system, and extends the potential space application. With the supports of National Natural Science Foundation of China‘Theory and Method of Deep Space Autonomous Navigation’, this dissertation deeply studies the autonomous navigation scheme according to the characters of different spaceflight stages. The main contents of this dissertation are as follows.
Firstly, the observability analysis methods of the deep space autonomous navigation system are studied. Considering the environmental characters of deep space, the corresponding surfaces of spacecraft position with different measurement information are given utilizing the geometry method. By taking the partial derivatives of the measurement with respect to each state variable, the observability of the autonomous navigation system is analyzed qualitatively. The quantitative analysis of the observability, including the observability and observable degree, are carried out through the observability matrix, error variance matrix, and FIM (Fisher Information Matrix).
Secondly, the autonomous navigation scheme of the interplanetary cruise phase based on asteroid image is studied. Navigation measurement model is constructed as the Line-of-Sight (LOS) vectors, and the observability of autonomous navigation system is investigated by analyzing the FIM. After given the selection criteria, the navigation asteroid is chosen according to the observable degree defined by the FIM. The spacecraft orbit is determined by using the recursive weighted least square based on UD factorization. Considering the attitude determination from the stars contained in asteroid image, a fast optimal attitude estimation algorithm is presented.
Next, the autonomous navigation scheme of the cruise phase based on the Sun observation is studied. For the autonomous navigation system utilizing the Sun LOS vector, an initial orbit determination algorithm utilizing three LOS vectors measurement is given based on observability degree analysis. After that, the autonomous navigation method introduced the radial velocity is researched. Furthermore, the autonomous navigation method based on the LOS vector is studied from the combination of the Sun LOS vector and the optical information, and an autonomous navigation algorithm of information fusion based on observability degree is given. Based on investigating the attitude estimation error using vector observation, the application of the Sun LOS vector in the optimal attitude estimation is studied.
Then, the autonomous navigation scheme of the rendezvous phase for small celestial body is studied. The state equation and measurement equation of the approach phase are constructed, and the observability of the navigation system is investigated qualitatively by using the analytical method. Considering the ephemeris information of the target celestial body, the autonomous navigation method based on the relative LOS vector and the Sun LOS vector are studied respectively. For the rendezvous phase, the RSEN (Reduced State Encounter Navigation) of the relative motion is given. The relative position vector is deduced under the different previous situation of the relative velocity, and the relative navigation method based on the LOS vector is researched.
Finally, the autonomous navigation scheme of the circling phase and landing phase are studied. For the circling phase, an autonomous navigation method based on the vector observation of the limb feature points of small celestial body is proposed. Combining the shape model, the relative position and attitude of the spacecraft in the small celestial body fixed coordinate frame are deduced directly, and an autonomous navigation algorithm using the Gauss-Markov process and Unscented Kalman filter is presented. For the landing mission, an autonomous navigation method based on vector observation of the feature points on the surface of the target small celestial body is studied. The position vectors from the spacecraft to three feature points can be constructed from the measurements of optical camera and laser range finder. The landing site coordinate frame and the spacecraft relative position and attitude are constructed directly. The spacecraft orbit parameters are determined by using the extended Kalman filter.
首先,研究了深空自主导航系统的可观测性分析方法。针对深空环境的特点,利用几何方法给出了不同观测信息对应的探测器位置面;通过求取观测方程对状态变量的偏导数,利用解析方法定性分析了自主导航系统的可观测性;从自主导航系统的可观测性矩阵、误差方差阵和费歇尔信息阵三个方面研究了系统的可观测性条件和可观测度定义,并给出了状态变量的可观测度分析方法。
其次,针对深空探测巡航段,研究了基于小行星图像信息的自主导航方法。以小行星图像提取出的视线矢量为观测模型,结合自主导航系统的最优误差方差阵和费歇尔信息阵,深入分析了不同视线矢量数目下自主导航系统的可观测性;分析导航小行星筛选准则,并利用费歇尔信息阵定义的自主导航系统的可观测度给出导航小行星列表,通过基于UD分解的递推加权最小二乘算法来确定探测器轨道;考虑到利用小行星图像背景恒星信息的姿态确定问题,给出了一种基于视线矢量的快速最优姿态估计算法。
接着,考虑到利用光学图像信息的自主导航方法在深空巡航段应用中的限制条件,研究了基于太阳观测的自主导航方法。对于以太阳视线矢量为观测量的自主导航系统,在系统可观测度分析的基础上,给出了一种利用三次太阳视线矢量测量的初始轨道确定方法;同时,对太阳视线矢量与径向速度组合测量的基于太阳信息自主导航方法进行了仿真分析;进一步,将太阳视线矢量与光学图像信息相结合,研究了基于视线信息的自主导航方法,并给出了一种基于可观测度的信息融合自主导航算法;在分析矢量观测姿态估计误差的基础上,研究了太阳视线矢量在深空巡航段姿态最优估计中的应用。
然后,研究了小天体探测任务接近交会段的自主导航方法。建立了接近段自主导航系统的状态方程和观测方程,利用解析方法定性分析了以探测器至目标天体视线矢量为观测量的导航系统的可观测性;考虑到目标天体的星历信息,分别研究了以相对视线矢量和太阳视线矢量为观测量的自主导航方法;针对交会段,给出了简化的相对运动轨道动力学模型,并针对相对速度大小已知、方向未知和大小方向均已知两种情况分别给出了相对位置矢量确定算法,进而给出了一种基于视线矢量的相对导航方法。
最后,研究了小天体探测任务绕飞段和着陆段的自主导航方法。针对绕飞段,提出了一种基于小天体边缘特征点矢量观测的自主导航方法,利用光学相机和高度计测量三个边缘特征点相对探测器的位置矢量,结合事先建立的小天体形状模型,从而直接得到小天体固联坐标系下探测器的相对位置和姿态信息,并给出了一种利用高斯-马尔科夫过程和Unscented卡尔曼滤波的导航算法;针对小天体着陆任务,给出了一种基于表面特征点矢量观测的自主导航方法,利用光学相机和激光测距仪得到三个非共线特征点图像信息和探测器至特征点的距离来确定探测器相对着陆点坐标系的位置矢量和姿态信息,并利用扩展卡尔曼滤波算法来实时估计探测器的轨道。
As a key technology, the autonomous navigation influences directly the mission’s success. Spacecraft autonomous navigation can reduce the operational complexity of the ground-assisted system, and extends the potential space application. With the supports of National Natural Science Foundation of China‘Theory and Method of Deep Space Autonomous Navigation’, this dissertation deeply studies the autonomous navigation scheme according to the characters of different spaceflight stages. The main contents of this dissertation are as follows.
Firstly, the observability analysis methods of the deep space autonomous navigation system are studied. Considering the environmental characters of deep space, the corresponding surfaces of spacecraft position with different measurement information are given utilizing the geometry method. By taking the partial derivatives of the measurement with respect to each state variable, the observability of the autonomous navigation system is analyzed qualitatively. The quantitative analysis of the observability, including the observability and observable degree, are carried out through the observability matrix, error variance matrix, and FIM (Fisher Information Matrix).
Secondly, the autonomous navigation scheme of the interplanetary cruise phase based on asteroid image is studied. Navigation measurement model is constructed as the Line-of-Sight (LOS) vectors, and the observability of autonomous navigation system is investigated by analyzing the FIM. After given the selection criteria, the navigation asteroid is chosen according to the observable degree defined by the FIM. The spacecraft orbit is determined by using the recursive weighted least square based on UD factorization. Considering the attitude determination from the stars contained in asteroid image, a fast optimal attitude estimation algorithm is presented.
Next, the autonomous navigation scheme of the cruise phase based on the Sun observation is studied. For the autonomous navigation system utilizing the Sun LOS vector, an initial orbit determination algorithm utilizing three LOS vectors measurement is given based on observability degree analysis. After that, the autonomous navigation method introduced the radial velocity is researched. Furthermore, the autonomous navigation method based on the LOS vector is studied from the combination of the Sun LOS vector and the optical information, and an autonomous navigation algorithm of information fusion based on observability degree is given. Based on investigating the attitude estimation error using vector observation, the application of the Sun LOS vector in the optimal attitude estimation is studied.
Then, the autonomous navigation scheme of the rendezvous phase for small celestial body is studied. The state equation and measurement equation of the approach phase are constructed, and the observability of the navigation system is investigated qualitatively by using the analytical method. Considering the ephemeris information of the target celestial body, the autonomous navigation method based on the relative LOS vector and the Sun LOS vector are studied respectively. For the rendezvous phase, the RSEN (Reduced State Encounter Navigation) of the relative motion is given. The relative position vector is deduced under the different previous situation of the relative velocity, and the relative navigation method based on the LOS vector is researched.
Finally, the autonomous navigation scheme of the circling phase and landing phase are studied. For the circling phase, an autonomous navigation method based on the vector observation of the limb feature points of small celestial body is proposed. Combining the shape model, the relative position and attitude of the spacecraft in the small celestial body fixed coordinate frame are deduced directly, and an autonomous navigation algorithm using the Gauss-Markov process and Unscented Kalman filter is presented. For the landing mission, an autonomous navigation method based on vector observation of the feature points on the surface of the target small celestial body is studied. The position vectors from the spacecraft to three feature points can be constructed from the measurements of optical camera and laser range finder. The landing site coordinate frame and the spacecraft relative position and attitude are constructed directly. The spacecraft orbit parameters are determined by using the extended Kalman filter.
引文
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