摘要
导航系统的性能与其可观测性密切相关,而可观测矩阵是分析导航系统可观测性能的重要依据。本文基于分段线性定常系统(PWCS)方法给出导航系统的可观测矩阵,进而针对测角测速组合导航系统开展可观测性分析。通过分析测角测速组合导航系统可观测矩阵的秩和条件数,得到导航系统的可观测性和整体可观测度,并研究导航系统的可观测阶数对导航系统的影响;同时基于奇异值分解(SVD)方法给出测角测速组合导航系统各个状态分量的可观测性分析方法。最后,以小行星探测工程任务巡航段为背景,系统地给出了不同量测模型的导航系统可观测性结果,分析了不同可观测性分析方法对导航系统可观测性刻画的适用性。本文所提出的可观测性分析方法,对导航系统可观测性分析具有很好的参考性,可为组合导航系统量测模型的优选提供参考,具有良好的理论和应用价值。
The performance of navigation system is closely related to its observability,and the observability matrix is an important basis for analyzing the observability of navigation system.In this paper,the observability matrix of navigation system is given based on the piece-wise constant system(PWCS)method.Then,the observability analysis is carried out for the angular and range rate measurement integrated autonomous navigation.The observability of the navigation system are obtained by analyzing the rank and condition number of the observability matrix of the integrated navigation system,and the effect of the observability order of the navigation system on the navigation system is studied.Meanwhile,based on the singular value decomposition(SVD)method,the observability analysis method of each state component of the integrated navigation system is given.Finally,taking the cruise phase of asteroid exploration as the background,the observability of the navigation system with different measurement schemes are given systematically,and the applicability of different observability analysis methods to the description of the observability of navigation system is analyzed.The observability analysis method proposed in this paper has a good reference for the observability analysis of navigation system,and can provide a reference for the alternative optimization of the measurement scheme of integrated autonomous navigation system,which has a good theoretical and application value.
作者
王伟
马广富
张伟
黄庆龙
WANG Wei;MA Guangfu;ZHANG Wei;HUANG Qinglong(School of Astronautics,Harbin Institute of Technology,Harbin 150001,Heilongjiang,China;Shanghai Institute of Satellite Engineering,Shanghai 201109,China;Shanghai Key Laboratory of Deep Space Exploration Technology,Shanghai 200240,China)
出处
《上海航天（中英文）》
CSCD
2020年第4期10-17,31,共9页
Aerospace Shanghai（Chinese&English）
基金
科工局十三五民用航天预研项目(D030102)
上海市科委科研计划资助项目(18DZ2272300)。
关键词
测角测速
可观性
自主导航
小行星探测
angular and range rate measurement
observability
autonomous navigation
asteroid exploration
