Design And Implementation Of A Performance Evaluation Platform For Deep Space Detection Integrated Navigation System

The exploration of deep space is a significant direction of human space activities.It is of great significance to the scientific and technological,economic and social development of the country.Deep space exploration has the characteristics of long navigation time,long range and unchanging environment.Therefore,it requires high-precision autonomous navigation technology.A single navigation method may not meet the requirements of the detector for the performance of the navigation system.If navigation methods can be effectively combined,the performance of the integrated navigation would be superior to the subsystem.The celestial navigation has the characteristics of no delay and high autonomy,which is very suitable for deep space detection.Simultaneously,since the filtering methods also play an important role in the autonomous navigation technology and can improve the navigation accuracy,therefore the evaluation of the navigation system and its filtering performance is indispensable.In this thesis,we design and implement a navigation evaluation system based on the Mars exploration in deep space exploration,to evaluate the performance of navigation methods and the EKF,UKF and UPF that are applied to the navigation system.And the evaluation results are visually displayed for analyzing and comparison.The main work of this thesis is as follows:1.We study the principle of celestial autonomous navigation technology,and analyze the orbital dynamics model and measurement model of the navigation system.Meanwhile,we analyze the principle and characteristics of various filtering methods and apply to the integrated navigation system based on celestial velocity and angle.2.For the autonomous navigation system,we establish a performance evaluation system,including performance evaluation indicators and comprehensive evaluation algorithms.And the specific meanings of the indicators such as accuracy,availability,continuity and real-time are analyzed.Then in order to comprehensively consider each indicator,a comprehensive evaluation of the analytic hierarchy process-entropy weight and the utility function is proposed,which can improve the accuracy of the evaluation results and make it more comprehensive and systematical.3.Aiming at the background of deep space exploration,a navigation evaluation platform is proposed.It is developed using Qt framework and realize the reception of navigation filter data.Through the evaluation platform,the navigation system was evaluated by the indicator evaluation algorithms and the comprehensive evaluation algorithm,and then the results are displayed in real time through the interface.Simultaneously,it also provides functions such as split screen,zoom in and out to compare and analyze each filtering method and navigation method.4.The navigation evaluation platform is used to evaluate the data of the Mars exploration cruise segment,and the results of each evaluation basic indicator are obtained.The comprehensive evaluation is carried out by the analytic hierarchy process and the utility function,and we can obtain a consistent conclusion by analyzing the evaluation results.