论文部分内容阅读
提出了一种用于探测器在巡航段的自主光学导航方案,该方案利用光学导航相机以及星敏感器,通过测量星光信息以及天体边缘的信息,得出了探测器的相对位置。在此基础上针对导航系统状态方程和观测方程的非线性问题,进行平方根Unscented卡尔曼滤波(square-root unscented Kalman filter)计算,由此实时确定了探测器的轨道。该方法将平方根滤波和UKF滤波有机结合起来,可更好地提高自主导航系统的准确度和可靠性。通过数学仿真并与EKF滤波过程进行比较,验证了该算法的优越性。
An autonomous optical navigation scheme for the detector at the cruise segment is proposed. The scheme uses the optical navigation camera and the star sensor to obtain the relative position of the detector by measuring the information of the star light and the edge of the celestial body. On this basis, the square root unscented Kalman filter is calculated for the nonlinear problems of the state equation and the observation equation of the navigation system, and the orbit of the detector is determined in real time. This method combines square root filter and UKF filter, which can improve the accuracy and reliability of autonomous navigation system. Through the mathematical simulation and comparison with the EKF filtering process, the superiority of the algorithm is verified.