Research On The Autonomous Navigation Of Small Celestial Body Rendezvous And Semi-physical Simulation Experiment

Autonomous navigation technology is one of the key technologies of realizing Small Celestial Body rendezvous exploration.Optical autonomous navigation which is based on the image features of Small Celestial Body bears the characteristic of high-precision and low-cost,which is the host issue in the field of Small Celestial Body exploration study currently.This thesis takes the features of Small Celestial Body rendezvous exploration into consideration,carries out a research on the autonomous navigation method of Small Celestial Body in the rendezvous phase,builds up the semi-physical simulation platform and develops the simulation and experiment verification.The main content is introduced as follows:Firstly,this research built up a dynamics model and an observation mode of Small Celestial Body rendezvous,designed an autonomous optical navigation scheme for probes,established the reference coordinate system and completed modelling of orbital dynamic s and attitude dynamics.On this basis,the autonomous optical navigation scheme based on the image features of Small Celestial Body was then designed.Secondly,the research on the autonomous optical navigation method based on the surface guidepost information of Small Celestial Body was carried out.Through image preprocessing of Small Celestial Body,edge detection and feature fitting,the surface guidepost information of Small Celestial Body was successfully extracted.Then,by taking the features of guidepost observation mode into account,the position and attitude of probes were calculated based on viewing angle decoupling and principles of multi-vector attitude determination respectively.Then,semi-physical simulation scheme of Small Celestial Body rendezvous optical navigation was designed and the reliability of semi-physical simulation scheme was estimated.This research also analyzed and designed the structure and function of semi-physical simulation platform,proposed a semi-physical simulation research scheme of Small Celestial Body rendezvous optical navigation and estimated the reliability of semi-physical simulation based on analytic hierarchy.Finally,this research built up the semi-physical simulation system of Small Celestial Body rendezvous optical navigation and developed the verification by simulation and experiment.Through using the simulator movement to simulate the rendezvous process of Small Celestial Body,the shape simulator of Small Celestial Body was built.And by comparing the information of the position and attitude of probes with the estimation result of navigation,the performance of autonomous optical navigation method was analyzed.