Study On Autonomous Navigation Method Of Spacecraft Based On X-Ray Pulsars

Autonomous navigation is essential in enhancing the autonomous spacecraft operation, and also an important technology that restricts the development of Chinese spaceflight. For the purpose of improving the autonomous operation ability of spacecraft, solving the critical problem and further developing the new theory and methods of X-Ray pulsars navigation, this dissertation studies the principle and algorithms, timing and navigation with consideration of synchronous timing problem, integrated navigation problem, pulsar position error estimation problem and the Hardware-in-the-Loop simulation technology of X-Ray pulsars navigation. The main results achieved in this dissertation are summarized as follows.The X-Ray pulsars navigation theory, methods and implementations are studied and proposed. 1) Based on the principle of X-Ray pulsars navigation, the models of navigation are formulated, and the effects of pulsar characteristics, performance of X-Ray navigation detector, and the observation time and background noise on the precision of TOA are analyzed. 2) Firstly, the navigation arithmetic with Extended Kalman Filter and Unscented Kalman Filter are studied, then navigation precision is analyzed, including the effects of TOA, clock error, orbital maneuver and pulsar position error on X-Ray pulsars navigation precision.The timing and navigation with consideration of synchronous timing based on X-Ray pulsars navigation theory, methods and implementations are developed. 1) The principle and models of X-Ray pulsars timing are formulated, then the timing arithmetic with Kalman Filter and Spline Filter are studied. 2) Based on the observability rank condition of linear system, the system of timing based on single pulsar is proved to be observable, and the effects of different factors on the timing precision are analyzed. 3) A new synchronous location and timing method based on X-Ray pulsars is proposed, alse the models and system architectures are constructed. Based on the observability rank condition of nonlinear system, the system of navigation with consideration of synchronous timing based on X-Ray pulsars is proved to be observable.X-Ray pulsars navigation/SINS integrated navigation system is studied and proposed. 1) Based on the advantages of X-Ray pulsars navigation and SINS, an integrated navigation system is proposed, the architectures and work flows of non-coupled system, loosely coupled system and tightly coupled system are designed. 2) Taking the indirect filter project as instruct, the models of X-Ray pulsars navigation/SINS tightly coupled system are designed. 3) A new clock error control algorithm of X-Ray pulsars/SINS integrated navigation is proposed, based on the Piece-Wise Constant System(PWCS) observability theory, the new method is proved to be feasible. 4) Taking the Homan transfer orbit, three and four pulses Lambert transfer orbit as example, the application feasibility of typical maneuver orbits is testified.X-Ray pulsar position error theory, methods and implementations are developed. 1) The analytic effects of X-Ray pulsar position error on the Least Square arithmetic, Iterative Least Square arithmetic and Kalman Filter arithmetic are deduced. 2) Based on the navigation ephemerides of the satellite, a new estimation algorithm of the X-Ray pulsar position error is proposed. 3) Modeling the X-Ray pulsar position error as Constant Position(CP) model and Constant Velocity(CV) model separately, the pulsar position error system is proved to be observable with PWCS observability theory.The Hardware-in-the-Loop simulation technology of navigation based on X-Ray pulsars is developed. 1) A new simulation method of X-ray pulsars signal is proposed. The first domestic Hardware-in-the-Loop simulation system of navigation based on X-Ray pulsars is designed and developed, which is an effective means to identify the performance of X-Ray navigation detector, verify the TOA estimation, and test the arithmetic of pulsars navigation. 2) The experimentations of X-Ray sources stability, signal fusing with different observation time and flux, and TOA estimation arithmetic are carried out, and the results of which are helpful to verify the feasibility of pulsars navigation, test the system performance and apply the navigation based on X-Ray pulsars in the future.Based on the basic navigation methods, this dissertation expands the research domain of the current X-Ray pulsars navigation by developing the X-Ray pulsars navigation theory, methods and Hardware-in-the-Loop simulation technology, teases and views the future crucial works of X-Ray pulsars navigation. The present work provides much theoretical significance and lays a solid foundation to future study of X-Ray pulsars navigation, and can also provide technological supports for the flight experiments of X-Ray pulsars navigation.