摘要
由于存在比较大的通信时延,加之可见测控弧段的约束,传统的地基无线电测控模式无法胜任深空探测任务关键节点对导航实时性和精度的需求.本文以火星探测为潜在的工程应用背景,发展了基于图像边缘信息的深空探测自主光学导航技术,对影响导航精度的光轴偏差进行了在轨近实时估计和标定.首先,对于地-火转移段,发展了基于火星中心及地平矢量的自主导航方法;其次,针对环火绕飞段,提出了基于火星本体局部边缘点信息的自主导航方法;然后,针对导航系统中的导航相/机光轴偏差,采用基于EM-EKF的参数估计算法实现近实时的光轴偏差参数估计,以补偿系统误差,从而实现高精度的自主光学导航.仿真结果表明,本文所发展的自主光学导航技术显著提高了探测器自主导航的导航精度,可作为地面测控导航模式的可靠备份,从而确保火星探测任务的成功实施.
The large communication delay and the constraints of visible measurement and control arcs hinder the traditional radio measurement and control mode from meeting the navigation real-time and accuracy requirements of the mission-critical phase of deep space exploration missions.Taking Mars exploration as a potential engineering application background,the optical autonomous navigation technology based on image edge information is developed for deep space exploration.The near-real-time estimation and calibration of the optical axis deviation that affects navigation accuracy are performed in orbit.First,an autonomous navigation method based on the Mars center and horizon vector is developed for the Earth-Mars transfer phase.Second,an autonomous navigation method based on the information of the local edge points of the Mars body is proposed for the Mars orbiting phase.Finally,a parameter estimation algorithm based on EM-EKF is developed for the optical axis deviation of the navigation system.This algorithm compensates for system errors through near-real-time optical axis biased parameter estimation,thereby achieving high-precision autonomous optical navigation.Simulation results show that the proposed algorithm can significantly improve the accuracy of autonomous optical navigation and can be used as a reliable backup of the traditional radio navigation mode,thus ensuring the success of Mars exploration.
作者
刘付成
朱庆华
孙建党
李爽
肖东东
姜丽辉
LIU FuCheng;ZHU QingHua;SUN JianDang;LI Shuang;XIAO DongDong;JIANG LiHui(Shanghai Institute of Spaceflight Control Technology,Shanghai 201109,China;Shanghai Key Laboratory of Space Intelligent Control Technology,Shanghai 201109,China;College of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)
出处
《中国科学：技术科学》
EI
CSCD
北大核心
2020年第9期1160-1174,共15页
Scientia Sinica(Technologica)
基金
国家自然科学基金(批准号:11672126,61273051)资助项目。
关键词
火星探测
自主光学导航
导航模型
边缘提取
偏差估计
EM-EKF
Mars exploration
optical autonomous navigation
navigation model
edge extraction
biased estimation
EM-EKF
