宇航学报

宇航学报 ›› 2011, Vol. 32 ›› Issue (10): 2115-2124.doi: 10.3873/j.issn.1000-1328.2011.10.004

• 制导、导航与控制 • 上一篇    下一篇

基于可观测性分析的深空自主导航方法研究

崔平远1, 常晓华2, 崔祜涛1,3   

  1. 1.北京理工大学宇航学院，飞行器动力学与控制教育部重点实验室，北京 100081；
    2.北京宇航系统工程研究所，北京 100076；3.哈尔滨工业大学深空探测基础研究中心，哈尔滨 150080
  • 收稿日期:2010-01-13 修回日期:2011-07-13 出版日期:2011-10-15 发布日期:2011-10-20
  • 作者简介:10001328（2011）10211510
  • 基金资助:
    国家973计划资助项目(2012CB720000)；国家自然科学基金资助项目(60874094)；国家863计划资助项目-(2010AA122206)；基础科研计划资助(B2220110012)

Research on Observability Analysis\|Based Autonomous Navigation Method for Deep Space

CUI Ping   

  1. 1. Key Laboratory for Aerocraft Dynamics and Control of Ministry of Education, School of Aerospace Engineering,
    Beijing Institude of Technology, Beijing 100081，China； 2. Beijing Institute of Astronautical Systems Engineering，Beijing 100076，China；
    3. Deep Space Exploration Research Center，Harbin Institute of Technology，Harbin 150080，China
  • Received:2010-01-13 Revised:2011-07-13 Online:2011-10-15 Published:2011-10-20

PDF

1112

摘要： 基于可观测性分析，研究了不同观测模型下的深空自主导航算法。从非线性系统的可观测性分析出发，利用微分几何理论求解出系统的可观测矩阵，并给出了系统的可观测度定义和状态变量的可观测度分析方法；将其应用于深空自主导航系统，分析了不同观测模型下导航系统以及轨道参数的可观测度，并将其作为观测模型的选取准则；根据可观测性分析结果，结合非线性扩展卡尔曼滤波，建立了不同观测模型对应的自主导航算法。最后，以深度撞击任务的实际飞行数据对文中的自主导航算法进行数值仿真，验证了导航系统可观测度与系统状态估计精度之间的关系，结果表明本文提出的可观测性分析方法是可行的。

关键词: 可观测性, 非线性系统, 深空探测, 自主导航

Abstract: In this paper, the autonomous navigation approaches for different observation models are studied based on observability analysis. Based on the observability analysis of the nonlinear system, the observability matrix is derived from the theory of differential geometry. Then, a method for measuring the observability index of the system is derived, and the analytical method of the observability index for state variable is given. The principle is applied in the autonomous navigation system for deep space. The observability indexes of navigation system corresponding to different observation models are studied, and the observability indexes of the orbital elements are investigated. The result of the observability analysis is used as a selection criterion of the observation model used in the navigation system. And then, the navigation approaches under different observation models are established by utilizing the extended Kalman filter. Finally, the autonomous navigation approach presented in the paper is validated by the practical data of a deep impact mission. The relation between the observability index of the navigation system and the estimation accuracy of orbit elements is verified, and the method of observability analysis is demonstrated to be feasible.

Key words: Observability, Nonlinear system, Deep space exploration, Autonomous navigation

中图分类号: