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Observability criterion of angles-only navigation for spacecraft proximity operations

机译:航天器接近操作的仅角度导航的可观测性标准

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This research studies the angles-only relative navigation problem for spacecraft proximity operations when the camera offset from the vehicle center-of-mass allows for range observability. Emphasis is placed on developing an analytic observability criterion for the camera offset within the context of the Clohessy-Wiltshire (CW) dynamics and evaluating the performance of the navigation algorithm in nonlinear dynamics environment. Further, the newly observability criterion is mathematically derived by changing the analyzing problem of the nonlinear observability into the solving problem of linear equations, and the criterion can be a powerful guideline to be followed to install the camera and execute attitude maneuvers. Moreover, navigation filtering algorithm based on an Unscented Kalman Filter and systematic nonlinear Monte Carlo simulation framework are established to verify the analytic observability criterion and evaluate the performance of the proposed algorithm through typical proximity missions. The sensitivity of the navigation accuracy to spacecraft trajectories and camera offset is presented and discussed. The conclusion is that the camera offset is required to have out-of-plane component and cannot be parallel to the line-of-sight vector in order to supply range observability.
机译:这项研究研究了当摄像头偏离飞行器质量中心时允许范围可观察性时,航天器接近操作的仅角度相对导航问题。重点放在为Clohessy-Wiltshire(CW)动力学环境中的相机偏移量开发可分析的可观察性标准,以及评估非线性动力学环境中导航算法的性能。此外,通过将非线性可观测性的分析问题转换为线性方程组的求解问题,可以从数学上推导新的可观测性准则,该准则可以作为安装相机和执行姿态操纵的强大指南。此外,建立了基于无味卡尔曼滤波器和系统非线性蒙特卡洛模拟框架的导航滤波算法,以验证解析可观性标准并通过典型的近程任务评估该算法的性能。提出并讨论了导航精度对航天器轨迹和相机偏移的敏感性。结论是,相机偏移量必须具有平面外分量,并且不能与视线矢量平行才能提供范围可观察性。

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