CN-121994253-A - Autonomous satellite selection and satellite vector measurement navigation method for cruise flight in wooden star system

CN121994253ACN 121994253 ACN121994253 ACN 121994253ACN-121994253-A

Abstract

The invention provides a method for autonomous navigation through cruise flight and autonomous navigation through satellite vector measurement in a wooden star system, which belongs to the technical field of deep space exploration autonomous navigation, and comprises the steps that a wooden star detector calculates the observability of a navigation system in the future period by taking the sight vector of each wooden star satellite as the observability quantity according to the satellite-borne wooden satellite ephemeris and self-orbit forecast, and accordingly autonomously plans an optimal satellite observation sequence; then, the detector acquires the sight vector of the selected satellite through the navigation sensor according to the sequence, and the position and the speed of the detector are calculated in real time by adopting robust extended Kalman filtering in combination with an orbit dynamics model. The invention realizes intelligent satellite selection and high-precision autonomous navigation in a complex perturbation environment of the wooden satellites, effectively overcomes the limitations of long ground navigation delay and short visible arc section, and improves the real-time performance and reliability of detection tasks.

Inventors

XU JUN
DUAN XIAOWEN
WANG BO
NIU JUNPO
DU YANG

Assignees

上海卫星工程研究所

Dates

Publication Date: 20260508
Application Date: 20260104

Claims (8)

1. The method for autonomous star selection and satellite vector measurement navigation of the cruising flight in the wooden star system is characterized by comprising the following steps: step S1, based on the position vectors of the detector and the satellite, establishing a vision vector of the satellite relative to the detector; S2, establishing a star detector orbit dynamics model; s3, calculating observability degree of a navigation system when different satellite vision vectors are used as quantity measurement based on the orbit dynamics model and the vision vector; s4, designing observation sequences of the wooden satellites for different orbital flight phases according to the observability degree; and S5, combining the satellite vector observables of the arisaema satellites in the observation sequence, performing navigation calculation by adopting an robust extended Kalman filtering algorithm, and outputting the state estimation of the detector.
2. The method for autonomous selection of a stars and vector measurement navigation of a stars satellite for cruise flight in a stars system according to claim 1, wherein the step S1 comprises: Establishing the view vector of the ith wooden satellite : Wherein, the For the detector to be positioned in vectors in the inertial coordinate system of the star, Is the position vector of the ith satellite in the satellite inertial coordinate system.
3. The method for autonomous selection of a stars and vector measurement navigation of a stars satellite for cruise flight in a stars system according to claim 1, wherein the step S2 comprises: Establishing a dynamics equation of the wooden star detector: Wherein, the Representing velocity vectors of the detector in the inertial coordinate system of the wooden star, i.e ; Representing acceleration vectors of the detector in a woody inertial coordinate system; representing the distance of the detector relative to the centroid of the wooden star; Is the constant of the gravitational force of the sun, For other celestial attraction perturbation items, As a perturbation term of solar light pressure, For the remaining unmodeled acceleration terms; the orbit dynamics equation is expressed as a general state equation: Wherein the method comprises the steps of , Is a system noise sequence.
4. The method for autonomous selection of a stars and vector measurement navigation of a stars satellite for cruise flight in a stars system according to claim 1, wherein the step S3 comprises the following sub-steps: step S3.1, performing linear discretization on the state equation: In the middle of In the form of a state transition matrix, In order to sample the period of time, The state quantity at the kth time is indicated, Representing an identity matrix, and solving a jacobian matrix of a state equation Neglecting the third body perturbation and solar pressure perturbation acceleration, which have relatively small effects, can result in: Wherein, the Representation of State quantity of moment; representing a 3-order identity matrix; Representing a3 rd order zero matrix; In the middle of Can be expressed as: step S3.2, linearizing the measurement equation: Wherein, the Expressing the view vector observation value of the ith wooden satellite at the k moment; representing the component of the position vector of the ith satellite in the X-axis direction in the satellite inertial coordinate system; representing the component of the position vector of the ith satellite in the Y-axis direction in the satellite inertial coordinate system; representing the component of the position vector of the ith satellite in the Z-axis direction in the satellite inertial coordinate system; S3.3, calculating the observability degree of the observation of the ith wood satellite Wherein, the A system observable matrix of a navigation system taking an ith satellite direction vector as an observed quantity at a kth moment is represented; And the jacobian matrix of the observation equation of the navigation system taking the ith satellite direction vector as the observed quantity at the kth moment is represented.
5. The method for autonomous selection and vector measurement navigation of the satellite in the internal cruise flight of the wooden star system according to claim 1, wherein the step S4 comprises designing the satellite observation sequences of different orbit flight phases from high to low according to the observability of the navigation system, and selecting the next-stage satellite for observation if the satellite of the wooden star satellite vector navigation system with the highest observability is not observable in the flight phases.
6. The method for autonomous selection of a stars and vector measurement navigation of a stars satellite for cruise flight in a stars system according to claim 1, wherein the step S5 comprises: Combining the satellite vector observables of the wooden satellites, and adopting an robust extended Kalman filtering algorithm to realize navigation solution: State one-step prediction: Wherein, the A one-step predicted value of the state quantity at the time k-1 is represented; A state value representing the time k-1; One-step prediction of mean square error: Wherein, the Representing a state one-step prediction covariance matrix; a state estimation error covariance matrix representing k-1 time; representing a system process noise covariance matrix; Measurement noise covariance matrix estimation Wherein, the As an observation of the moment k, In order to predict the residual error, the prediction mode, The jacobian matrix is the measurement equation at time k, In order to measure the noise covariance matrix, In order to predict the residual covariance matrix, Is a normalized residual. As the anti-aliasing factor, In the form of an anti-aliasing factor matrix, , Diagonalized matrix is represented by diagonalized (·); Filtering gain: State estimation: estimating a mean square error: Wherein, the In order to filter the gain array, For the state estimate at time k, And estimating a covariance matrix for the k moment state.
7. The utility model provides a satellite vector measurement navigation system of autonomous selection of cruise flight in wooden star system which characterized in that includes: the module M1 is used for establishing a vision vector of the satellite based on the position vector of the detector and the satellite; the module M2 is used for establishing a star detector orbit dynamics model; the module M3 is used for calculating the observability of the navigation system when different satellite vision vectors are used as quantity measurement based on the orbit dynamics model and the vision vectors; A module M4, designing observation sequences of the wooden satellites for different orbital flight phases according to the observability degree; And a module M5, combining the satellite vector observables of the arisaema satellites in the observation sequence, adopting an robust extended Kalman filtering algorithm to carry out navigation calculation, and outputting the state estimation of the detector.
8. The system for autonomous selection of a starburst and vector measurement navigation of a starburst satellite in a starburst according to claim 7, wherein said module M1 is operative to perform: Establishing the view vector of the ith wooden satellite : Wherein, the For the detector to be positioned in vectors in the inertial coordinate system of the star, Is the position vector of the ith satellite in the satellite inertial coordinate system.

Description

Autonomous satellite selection and satellite vector measurement navigation method for cruise flight in wooden star system Technical Field The invention relates to the technical field of deep space exploration autonomous navigation, in particular to a method for autonomous navigation of cruising flight in a starry system and vector measurement navigation of starry satellites. Background The star is used as the largest planet in the solar system, and the detection task of the star has important significance for researching scientific problems such as planetary formation, magnetic field structure, satellite system, life origin and the like. However, the wooden system is far away from the earth, the signal transmission delay is high, the traditional ground measurement and control and radio navigation mode is limited by the problems of short visible arc section, large communication delay, serious signal attenuation and the like, and the real-time, continuous and high-precision navigation support is difficult to provide for the detector in the cruising stage of the wooden system. Especially when multi-target fly-through, orbital maneuver or close-range scientific observation is carried out, the autonomous navigation capability of the detector is directly related to the safety of tasks and the realization of scientific achievements. Within the woody system, the woody satellites possess a number of satellites, including galileo satellites (wood Wei Yi to wood Wei Si) and other irregular satellites, which are relatively stable in position, predictable in ephemeris, and can be used as natural spatial navigation beacons. However, existing astronomical navigation methods still face the following challenges in the application within the woody system: The observation target selection problem is that the observability difference of different satellites in different flight phases is large, and if the observation target is selected blindly, the observability of a navigation system is low, and filtering divergence or positioning error accumulation can be caused. The dynamic environment is complex, the irregular gravity field of the wooden star and the influence of multi-body perturbation (such as sun and other wooden star satellites) are obvious, the non-gravitation perturbation such as solar light pressure and the like also need to be accurately modeled, and the traditional filtering method is easy to be interfered by model errors and measurement anomalies. The real-time performance and the robustness are high, and the detector needs to be quickly adapted to the track change in the cruising stage, and has the capability of automatically switching the standby navigation source when part of satellites are invisible or abnormal in observation. Therefore, development of an autonomous satellite selection and vector measurement navigation method suitable for the internal cruise flight of a wooden star system is needed, an optimal observation target can be intelligently selected according to real-time orbit conditions and satellite visibility, abnormal interference is restrained, and therefore autonomous navigation with high accuracy and high reliability is achieved. Disclosure of Invention Aiming at the defects in the prior art, the invention aims to provide an autonomous satellite selection and satellite vector measurement navigation method for cruising flight in a wooden star system. The invention provides a method for autonomous satellite selection and satellite vector measurement navigation of a cruiser cruise flight in a woody system, which comprises the following steps: step S1, based on the position vectors of the detector and the satellite, establishing a vision vector of the satellite relative to the detector; S2, establishing a star detector orbit dynamics model; s3, calculating observability degree of a navigation system when different satellite vision vectors are used as quantity measurement based on the orbit dynamics model and the vision vector; s4, designing observation sequences of the wooden satellites for different orbital flight phases according to the observability degree; and S5, combining the satellite vector observables of the arisaema satellites in the observation sequence, performing navigation calculation by adopting an robust extended Kalman filtering algorithm, and outputting the state estimation of the detector. Preferably, the step S1 includes: Establishing the view vector of the ith wooden satellite : Wherein, the For the detector to be positioned in vectors in the inertial coordinate system of the star,Is the position vector of the ith satellite in the satellite inertial coordinate system. Preferably, the step S2 includes: Establishing a dynamics equation of the wooden star detector: Wherein, the Representing velocity vectors of the detector in the inertial coordinate system of the wooden star, i.e;Representing acceleration vectors of the detector in a woody inertial coordinate system; representin