宇航学报

宇航学报 ›› 2021, Vol. 42 ›› Issue (3): 344-350.doi: 10.3873/j.issn.1000-1328.2021.03.009

• 制导、导航、控制与电子 • 上一篇    下一篇

航天器近程编队自主协同相对导航方法

龚柏春，王沙，郝明瑞，管叙军   

  1. 1.南京航空航天大学先进航天技术实验室，南京 210016; 2.复杂系统控制与智能协同技术重点实验室，北京 100074

  • 收稿日期:2020-07-24 修回日期:2020-11-08 出版日期:2021-03-15 发布日期:2021-03-15
  • 基金资助:
    国家自然科学基金（11802119）；装备预研重点实验室基金（6142210200306）；国家博士后创新人才支持计划（BX201700304）

Cooperative Relative Navigation Algorithm for Multi spacecraft Close range Formation

GONG Bai chun, WANG Sha, HAO Ming rui, GUAN Xu jun   

  1. 1. Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;2. Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory, Beijing 100074, China
  • Received:2020-07-24 Revised:2020-11-08 Online:2021-03-15 Published:2021-03-15

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摘要：

针对GNSS(全球导航卫星系统)拒止环境下近圆轨道多航天器近距离编队自主协同相对导航问题，提出了利用测角相机偏离航天器质心安装时的杆臂效应和多航天器之间几何一致性约束来实现相对导航的方法。首先，在第二轨道坐标下分别建立了基于Hill Clohessy Wiltshire方程的多航天器编队相对轨道演化模型、测角相机偏离质心安装情况下的相对视线角测量模型；然后，引入多航天器之间几何约束建立了相对轨道状态的一致性约束模型，并基于该约束模型设计了一致性扩展卡尔曼滤波估计算法；接着，对所建立的相对导航模型进行了相对轨道状态的可观测性分析，得到了使相对轨道可观测的相机偏置安装条件；最后，通过数值仿真实验对所提算法进行了校验，并与一致性无约束条件下的估计算法进行了对比分析。仿真结果表明，本文所提算法的相对位置误差能够快速收敛，在5 m传感器偏置和10 -3 rad量级测角误差条件下，多航天器相对定位误差在10 m以内。

关键词: 航天器编队, 相对导航, 可观测性分析, 仅测角

Abstract: To solve the collaborative relative navigation problem for near circular orbiting small satellites in close range formation under GNSS denied environment, a novel consensus constrained relative navigation algorithm based on the lever arm effect of the sensor offset from the spacecraft center of mass is proposed. Firstly, the orbital propagation model for the relative motion of the multi spacecraft formation is established based on the Hill Clohessy Wiltshire equations and the line of sight measurement under sensor offset condition is modeled in the Local Vertical Local Horizontal frame. Secondly, the consensus constraint model for the relative orbit state is constructed by introducing the geometry constraint between the spacecraft, based on which the consensus extended Kalman filter is designed. Next, the observability analysis is done and the conditions of the sensor offset to make the state observable are obtained. Lastly, the digital simulations are conducted to verify the proposed algorithm, where the comparison to the unconstrained case is also done. The results show that the estimate error of the relative position converges very quickly, the location error is smaller than 10 m under the condition of 10 -3 rad level camera and 5 m offset.

Key words: Spacecraft formation, Relative navigation; Observability analysis, Angles only measurement

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