CN-122015881-A - Navigation mode transition method, electronic equipment and medium

CN122015881ACN 122015881 ACN122015881 ACN 122015881ACN-122015881-A

Abstract

The invention discloses a navigation mode transition method, electronic equipment and a medium, which are used for monitoring geometrical angles among a parent satellite, a service spacecraft and space debris in the working process of a first navigation mode, obtaining the position of a target orbit under a J2000 coordinate system through double-satellite geometrical estimation when the geometrical angles meet the mode switching requirement, and switching the position to a second navigation mode by taking the position as an initial position calculated in the second navigation mode. Before the navigation mode is switched, the target track position is determined through double-star geometric estimation, so that the single-star navigation positioning precision can be rapidly improved, a good initial value is provided for double-star angle measurement filtering, and the convergence process is accelerated.

Inventors

HU HAIYING
JING ZHEN
FENG HAN
JI CONGYUN
ZHANG KEKE
ZHANG ZHIXUN
Ding baihui
ZHU YONGSHENG
OU YUHAN
ZHOU MEIJIANG
LI WENTAO

Assignees

中国科学院微小卫星创新研究院
上海微小卫星工程中心

Dates

Publication Date: 20260512
Application Date: 20260407

Claims (10)

1. A method of transitioning between navigation modes, comprising: in the working process of the first navigation mode, monitoring geometrical angles among the parent star, the service spacecraft and the space debris; When the geometric angle meets the mode switching requirement, obtaining the position of a target track under a J2000 coordinate system through double-star geometric estimation; and switching the position to the second navigation mode by taking the position as the calculated initial position in the second navigation mode.
2. The navigation mode transition method of claim 1, wherein the mode switching requirement comprises: The included angle between the vector of the parent star pointing to the space debris and the vector of the service spacecraft pointing to the space debris is larger than a set threshold, and the space debris is located in the fields of view of the parent star and the optical cameras of the service spacecraft.
3. The navigation mode transition method of claim 1, wherein the first navigation mode is a single star angular navigation mode.
4. A navigation mode transition method according to claim 3, wherein the first navigation mode comprises: tracking and measuring the space debris by the parent star through an optical camera carried by the parent star; and (3) performing extended Kalman filtering through a high-precision orbit extrapolation model, and outputting the position and the speed of the target orbit.
5. The navigation mode transition method of claim 1, wherein the dual star geometry estimation comprises: acquiring the positioning positions of the satellites and the GNSS of the service spacecraft under a J2000 coordinate system and the measurement angles of the relative targets at the same time; Based on the GNSS positioning position, and the measurement angle, the position (x, y, z) of the target orbit in the J2000 coordinate system is calculated.
6. The navigation mode transition method of claim 5, wherein the position (x, y, z) of the target track in the J2000 coordinate system is calculated according to the following formula: , , , Wherein: The value of the weighting coefficient is determined according to different angle measurement precision of the parent star and the service spacecraft; the positioning position of the parent star in a J2000 coordinate system is determined; Positioning positions of GNSS of the service spacecraft under a J2000 coordinate system; Distance between the parent star and the space debris: , distance between the service spacecraft and the space debris: , for the distance between the parent star and the projection of the space debris M1 at the xoz plane, For the distance between the service spacecraft and the projection of the space debris M2 at the xoz plane, The azimuth angle obtained for the space debris M1 is measured for the parent star, The azimuth angle obtained for the space debris M2 is measured for the service spacecraft, The pitch angle obtained for the space debris M1 is measured for the parent star, The resulting pitch angle of the space debris M2 is measured for the service spacecraft, For the distance between the spatial fragments M1, M2: 。
7. The navigation mode transition method of claim 1, wherein a velocity in the filtered result in the last beat of the first navigation mode is taken as the calculated initial velocity in the second navigation mode.
8. The navigation mode transition method of claim 1, wherein the second navigation mode is a dual star angular navigation mode.
9. An electronic device for controlling a navigation mode transition, comprising a memory and a processor, wherein the memory is configured to store a computer program that, when executed by the processor, performs the navigation mode transition method of any of claims 1 to 8.
10. A computer readable storage medium for controlling a navigation mode transition, characterized in that a computer program is stored, which computer program, when run on a processor, performs the navigation mode transition method according to any one of claims 1 to 8.

Description

Navigation mode transition method, electronic equipment and medium Technical Field The present invention relates to the field of aerospace technologies, and in particular, to a navigation mode transition method, an electronic device, and a medium. Background With the increasing frequency of space activities, the number of space debris such as dead satellites, rocket final stages and the like continuously increases, and the space debris forms a serious threat to the on-orbit operation of the spacecraft. Space on-orbit services such as space debris removal, on-orbit maintenance and the like become key technologies for maintaining the safety of space environment. The core premise of such tasks is that the service spacecraft is capable of high-precision relative navigation and positioning of non-cooperative target fragments. Currently, a mode of cooperative work of a parent star and a service spacecraft is generally adopted in an on-orbit service task. The typical relative navigation flow comprises two stages of single-star navigation and double-star angle measurement navigation. In the initial stage of a task, because the baseline distance between a parent star and a service spacecraft is short, the space geometry is poor, the observability of double-star angle measurement is weak, and double-star angle measurement information cannot be effectively utilized. Thus, this stage is typically performed by a single spacecraft, such as a parent satellite, using its own optical camera or like sensor to perform single-satellite goniometric navigation of the target. When the parent star and the service spacecraft are pulled apart by a certain distance through maneuver, after a base line which is long enough is formed, the space geometry is obviously improved, and the observability is improved. At the moment, the system is switched to a double-star angle measurement navigation mode for simultaneously measuring the angle of the target by using two spacecrafts, so that higher positioning accuracy can be obtained. However, the above procedure has a key problem in that, in the first stage, since only a single star is used for angle measurement, the inherent navigation accuracy is limited, and thus the acquired target positioning error is large. When the two-stage double-star angle measurement is switched to the second stage, the positioning result of the previous stage is required to be used as the initial input of the second stage, and the nonlinear filtering algorithm is sensitive to the initial value, so that the target positioning with poor precision obtained in the first stage can obviously influence the convergence speed and stability of the filter, further the filter needs longer convergence time and even diverges, and the quick cooperative positioning cannot be realized. Disclosure of Invention Aiming at part or all of the problems in the prior art, in order to improve the accuracy of the initial state of the double-star navigation in the transition stage of the relative navigation mode switching, the first aspect of the invention provides a navigation mode transition method, which comprises the following steps: In the working process of the first navigation mode, monitoring geometrical angles among the parent star, the service spacecraft and the space debris; When the geometric angle meets the mode switching requirement, obtaining the position of a target track under a J2000 coordinate system through double-star geometric estimation; and switching the position to the second navigation mode by taking the position as the calculated initial position in the second navigation mode. Further, the mode switching requirement includes: The included angle between the vector of the parent star pointing to the space debris and the vector of the service spacecraft pointing to the space debris is larger than a set threshold, and the space debris is located in the fields of view of the parent star and the optical cameras of the service spacecraft. Further, the first navigation mode is a single star angular navigation mode. Further, the first navigation mode includes: tracking and measuring the space debris by the parent star through an optical camera carried by the parent star; and (3) performing extended Kalman filtering through a high-precision orbit extrapolation model, and outputting the position and the speed of the target orbit. Further, the dual star geometry estimation comprises: acquiring the positioning positions of the satellites and the GNSS of the service spacecraft under a J2000 coordinate system and the measurement angles of the relative targets at the same time; Based on the GNSS positioning position, and the measurement angle, the position (x, y, z) of the target orbit in the J2000 coordinate system is calculated. Further, the velocity in the filtering result in the first navigation mode of the last beat is used as the initial velocity calculated in the second navigation mode. Further, the second navigation mode is