着陆小行星的视线测量自主光学相对导航算法及其可观性分析

Line-of-sight Measurement Based Autonomous Optical Relative Navigation Algorithms for Asteroid Landing and Observability Analysis

以软着陆小行星为工程应用背景,提出了基于视线(LOS)测量的自主光学相对导航算法,并对导航算法的可观性进行了比较深入的分析研究。首先,基于透视投影模型的共线方程,给出了导航测量方程和测量敏感矩阵;接着,通过多个视线矢量的测量,应用高斯最小二乘微分修正(GLSDC)和龙贝格-马尔塔(LM)算法对探测器的位置和姿态参数进行了估计。然后,通过对误差方差阵逆矩阵秩的分析,比较详尽地分析了不同数量视线观测条件下导航算法的可观度和可观性。最后,通过数学仿真对所提出的自主导航算法的可行性进行了验证。

In this article, line-of-sight （LOS） measurement based autonomous optical relative navigation algorithms for landing spacecraft on asteroids are presented; observability analysis of the navigation algorithms is also carried out in detail. First, navigation measurement equations and measurement sensitive matrices are provided based on the co-linear equation of perspective projection. Next, spacecraft position and attitude parameters are estimated using the Gaussian least square differential correction （GLSDC） algorithm and Levenberg- Marquardt （LM） algorithm by multiple line-of-sight measurements. Then, navigation system observability and observable degree with different quantitative line-of-sight measurements are analyzed in detail by rank analysis of the error variance inverse matrix. Finally, the validity of the autonomous navigation algorithms presented in this article is confirmed by mathematical simulation.