Algorithm of astronomy autonomous navigation based on multi-sensors and the analysis of observability
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摘要: 自主导航是未来航天器的发展趋势，利用由太阳敏感器、月球敏感器和红外地球敏感器组成的一体化多传感器天文观测平台，构建了多传感器的天文测量模型，结合航天器动力学模型，分析了自主导航系统的可观测性. 基于UKF滤波算法，建立多传感器自主导航算法，并采用原始测量信息和单点解析定位信息两种模式分别进行了仿真验证. 仿真结果表明，基于原始天文测量信息的自主导航模式，其导航精度要高于单点解析定位数据的自主导航精度，在无系统误差情况下，导航精度约为200m. 采用系统误差估计的自主导航方法后，常值系统误差对导航精度基本不产生影响.Abstract: The technology of autonomous navigation is an inevitable trend in the development of spacecraft in the future. Based on the integrative platform of multi-sensors composed of sun sensor, moon sensor and the infrared Earth sensor, the observation model of multi-sensors were proposed. In order to construct the autonomous navigation system, the observability of navigation system was analyzed. Then the algorithm of astronomy autonomous navigation was built up based on two modes. One is based on the original astronomy multi-sensors data. The other is based on the analytical single position data calculated by the original astronomy multi-sensors data. Simulation results showed that the navigation precision of the mode based on original astronomy multi-sensors data was higher than that of the mode based on analytical single position data. And the navigation error was approximately within 200m when the observation data contains no system error. The precision of navigation with constant observation error is equal with that of the navigation with only random observation error when the system error estimation method is used.
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Key words:
- Autonomous navigation /
- Astronomical sensor /
- UKF algorithm /
- Observability
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