CN-122015909-A - Autonomous navigation system state estimation and error identification method and device

CN122015909ACN 122015909 ACN122015909 ACN 122015909ACN-122015909-A

Abstract

The invention provides a method and a device for state estimation and error identification of an autonomous navigation system, wherein the method comprises the following steps of obtaining an evaluation index of the observability of the system by utilizing an observability criterion; the method comprises the steps of obtaining accurate compensation degree of measuring errors of an optical sensor according to an observable capacity evaluation index of a system, determining the achievable state estimation precision of an autonomous navigation system, constructing an observable capacity optimization function, analyzing the coupling relation between the measuring errors and the system state based on the observable capacity optimization function, establishing an error response model, constructing a system state parameter joint optimization model according to the error response model through the observable capacity evaluation index of the navigation system, optimizing the system state parameter joint optimization model and achieving on-orbit identification of errors and the system state. The accuracy of the observability judgment of the navigation system is improved, the allocation of observation information and calculation resources can be optimized autonomously, and the problem of state estimation under the weak observation condition is solved.

Inventors

SONG LIJUN
YANG DINGXIN
CHEN ZHONGSHENG
HU LEI

Assignees

山东协和学院

Dates

Publication Date: 20260512
Application Date: 20260128

Claims (10)

1. An autonomous navigation system state estimation and error identification method, characterized in that the method comprises the following steps: obtaining a system observability evaluation index by using an observability criterion; Obtaining the accurate compensation degree of the measurement error of the optical sensor according to the observability evaluation index of the system, and determining the state estimation accuracy which can be achieved by the autonomous navigation system; Constructing an observable ability optimization function according to the state estimation accuracy which can be achieved by the autonomous navigation system; Analyzing the coupling relation between the measurement error and the system state based on the observable ability optimization function, and establishing an error response model; according to the error response model, constructing a system state parameter joint optimization model through the observable ability evaluation index of the navigation system; And optimizing the system state parameter joint optimization model and realizing the on-orbit identification of errors and system states.
2. The method for estimating and identifying the state of an autonomous navigation system according to claim 1, wherein the obtaining the system observability evaluation index using the observability criterion comprises: determining the characteristics of measurement data and dimension information of the measurement data obtained by a current system according to the on-orbit running stage of the detector; Combining with an optical sensor comprehensive error reduction model, and judging whether the calculation resources and the measurement information of the navigation system can meet the performance index of the autonomous navigation system by utilizing observability criteria; and judging constraint priority of calculation resources and measurement information quantity to state estimation and error accurate compensation of the autonomous navigation system, and providing basis for system observability evaluation.
3. The method for estimating and identifying the state of the autonomous navigation system according to claim 1, wherein the obtaining the accurate compensation degree of the measurement error of the optical sensor according to the evaluation index of the observability of the autonomous navigation system, determining the achievable state estimation precision of the autonomous navigation system, comprises: Based on the system observability criterion result, combining an observability evaluation system to obtain the occupation amount of computing resources and the information amount of measurement data; quantifying the influence degree of the observable ability on the navigation precision of the system; obtaining the accurate compensation degree of the measurement error of the optical sensor; Determining the state estimation accuracy achievable by the autonomous navigation system; Forming the basis for quantification required for system observability optimization.
4. The method for estimating and identifying the state of the autonomous navigation system according to claim 1, wherein the constructing a system state parameter joint optimization model according to the error response model by using the navigation system observability evaluation index comprises the following steps: On the basis of an autonomous navigation system error response model, optimizing the observable ability of the navigation system through an observable ability evaluation system of the navigation system, and constructing a low-frequency error model; Optimizing a sensitive error model, and taking the sensitive error model parameters and the system state variables after system optimization as parameters to be estimated; and combining the parameters to be estimated with a multisource error integrated characterization model to establish a system state parameter combined optimization model.
5. The method for estimating and identifying the state of an autonomous navigation system according to claim 4, wherein optimizing the system state parameter joint optimization model and implementing the on-orbit identification of the error and the system state comprises: establishing a mapping relation between error continuity, sparsity and stability characteristics and a multisource error characteristic subspace of the autonomous navigation system according to an optical sensor measurement error analytic hierarchy process result; mapping different types of error parameters into the existing model parameters, and optimizing a system state parameter joint optimization model; and the on-orbit accurate estimation and compensation of errors are realized by combining an autonomous navigation state estimation algorithm, and on-orbit identification of errors and system states is realized.
6. An autonomous navigation system state estimation and error recognition device, comprising: The acquisition unit is used for acquiring the system observability evaluation index by utilizing the observability criterion; The calculation unit is used for obtaining the accurate compensation degree of the measurement error of the optical sensor according to the system observability evaluation index and determining the state estimation accuracy which can be achieved by the autonomous navigation system; The optimizing unit is used for constructing an observable capacity optimizing function according to the state estimation precision which can be achieved by the autonomous navigation system; the response unit is used for analyzing the coupling relation between the measurement error and the system state based on the observable ability optimization function and establishing an error response model; The construction unit is used for constructing a system state parameter joint optimization model through the observable ability evaluation index of the navigation system according to the error response model; and the identification unit is used for optimizing the system state parameter joint optimization model and realizing the on-orbit identification of errors and system states.
7. The autonomous navigation system state estimation and error recognition device of claim 6, wherein the obtaining unit includes: the method comprises the steps of determining measurement data characteristics and measurement data dimension information obtained by a current system according to the on-orbit operation stage of the detector; The method is used for combining an optical sensor comprehensive error reduction model, and judging whether the calculation resources and the measurement information of the navigation system can meet the performance index of the autonomous navigation system by utilizing observability criteria; And the constraint priority for calculating the state estimation and the accurate error compensation of the autonomous navigation system by the resource and the measurement information quantity is used for judging, and a basis is provided for the observability evaluation of the system.
8. The autonomous navigation system state estimation and error recognition device of claim 6, wherein the computing unit comprises: The method is used for obtaining the occupation amount of computing resources and the information amount of measured data by combining an observability evaluation system based on the observability criterion result of the system; The method is used for quantifying the influence degree of the observable ability on the navigation precision of the system; the method comprises the steps of obtaining the accurate compensation degree of the measurement error of an optical sensor; For determining a state estimation accuracy achievable by the autonomous navigation system; for forming the basis for quantification required for system observability optimization.
9. The autonomous navigation system state estimation and error recognition device of claim 6, wherein the constructing unit includes: The method is used for optimizing the observable ability of the navigation system through the observable ability evaluation system of the navigation system on the basis of the error response model of the autonomous navigation system, and constructing a low-frequency error model; the method comprises the steps of optimizing a sensitive error model, and taking parameters of the sensitive error model after system optimization and system state variables as parameters to be estimated; and the system state parameter combined optimization model is established by combining the parameters to be estimated with the multisource error integrated characterization model.
10. The autonomous navigation system state estimation and error recognition device of claim 9, wherein the recognition unit comprises: the method is used for establishing a mapping relation between error continuity, sparsity and stability characteristics and a multisource error characteristic subspace of the autonomous navigation system according to an optical sensor measurement error analytic hierarchy process result; The system state parameter optimization method is used for mapping different types of error parameters into the existing model parameters and optimizing the system state parameter joint optimization model; The method is used for realizing the on-orbit accurate estimation and compensation of errors by combining an autonomous navigation state estimation algorithm, and realizing the on-orbit identification of errors and system states.

Description

Autonomous navigation system state estimation and error identification method and device Technical Field The invention relates to the technical field of on-orbit measurement errors, in particular to a method and a device for state estimation and error identification of an autonomous navigation system. Background The final purpose of the deep space exploration optical autonomous navigation is to autonomously acquire high-precision navigation parameters such as absolute, relative position, speed, motion state and the like between the detector and the exploration target on the satellite, wherein the parameters are the precondition of realizing a deep space exploration task and are required to be acquired through an on-orbit error precise identification and autonomous navigation filtering algorithm. The space-borne computing resources of the deep space detector are severely limited, and the autonomous running capability of the error on-orbit identification and autonomous navigation algorithm can be greatly restricted. Taking the 'falcon bird No. 2' detector for realizing asteroid sampling return in the year 2020 as an example, the main frequency of the mounted COSMO16 processor is only 40MHz, the memory and the buffer size are only 16Mb, and the computing and storage capacity is far lower than the computing and processing capacity of a ground computer. Besides the complete estimation of the state of the navigation system, the optical autonomous navigation process also needs to identify the comprehensive error model/parameter of the optical sensor on-orbit, so that the calculation complexity of the optical autonomous navigation algorithm is greatly improved, and the identification of the system error and the convergence of the navigation algorithm are affected. The research scholars at home and abroad have achieved a certain research progress in the aspect of the on-orbit accurate compensation of the errors of the navigation system and the design of the autonomous navigation filtering algorithm. The system error compensation and navigation filtering algorithm generally improves the autonomous navigation precision at the cost of increasing the algorithm calculation complexity, has a complex algorithm process and is difficult to autonomously operate on the satellite under the constraint of limited satellite-borne calculation resources. In summary, the prior art has the following problems of how to design an efficient and high-precision autonomous navigation algorithm under the constraint of severely limited satellite-borne resources and combining an observable ability evaluation system to realize complete estimation of navigation states. Disclosure of Invention The invention aims to solve the problem how to design an autonomous navigation algorithm with high efficiency and high precision by combining an observability evaluation system under the constraint of severely limited satellite-borne resources so as to realize complete estimation of navigation states. To this end, in one aspect, an embodiment of the present invention provides a method for estimating a state and identifying an error of an autonomous navigation system, the method including the steps of: obtaining a system observability evaluation index by using an observability criterion; Obtaining the accurate compensation degree of the measurement error of the optical sensor according to the observability evaluation index of the system, and determining the state estimation accuracy which can be achieved by the autonomous navigation system; Constructing an observable ability optimization function according to the state estimation accuracy which can be achieved by the autonomous navigation system; Analyzing the coupling relation between the measurement error and the system state based on the observable ability optimization function, and establishing an error response model; according to the error response model, constructing a system state parameter joint optimization model through the observable ability evaluation index of the navigation system; And optimizing the system state parameter joint optimization model and realizing the on-orbit identification of errors and system states. In another aspect, an embodiment of the present invention provides an autonomous navigation system state estimation and error recognition apparatus, including: The acquisition unit is used for acquiring the system observability evaluation index by utilizing the observability criterion; The calculation unit is used for obtaining the accurate compensation degree of the measurement error of the optical sensor according to the system observability evaluation index and determining the state estimation accuracy which can be achieved by the autonomous navigation system; The optimizing unit is used for constructing an observable capacity optimizing function according to the state estimation precision which can be achieved by the autonomous navigation system; the response unit is used for a