近地卫星自主天文导航的算法与DSP实现研究
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摘要
近年来,天文导航以其自主性强、精度高、成本低廉等特点在航天领域得到越来越广泛的应用,成为航天器自主导航的一种重要方法。
本文以近地轨道卫星为研究对象,着重研究了基于多姿态敏感器的卫星自主天文导航方法及非线性滤波方法在卫星自主导航系统中的应用,并对自主导航算法的DSP实现、DSP计算结果的实时图形显示等问题进行了研究。本文研究的主要内容有:
(1)针对近地轨道卫星,在J2000.0地心赤道惯性坐标系下,综合考虑地球形状摄动、大气阻力摄动、日月引力摄动和太阳光压摄动等因素,建立了较为精确的卫星轨道动力学模型。
(2)针对卫星上同时配备有太阳敏感器、地球敏感器和星敏感器的情况,研究了利用姿态敏感器测量信息进行自主天文导航的方法,分别基于扩展卡尔曼滤波和Unscented卡尔曼滤波两种非线性滤波算法设计了导航滤波器以确定卫星在轨的位置和速度。为验证导航方案的可行性及导航算法的性能,本文进行了数学仿真,对两种滤波算法的性能进行了比较分析,并着重讨论了采样周期和敏感器测量精度对导航系统定轨精度的影响。
(3)研究了自主导航算法的DSP实现问题。采用C语言和汇编语言混合编程的方法将自主导航算法从PC机移植到DSP集成开发环境CCS中,通过JTAG接口将算法程序加载到TMS320C6713芯片。仿真实验时,一台PC机以固定的采样周期通过RS232接口向DSP芯片传输敏感器测量数据,DSP在接收到所需数据后驱动导航算法进行实时的解算处理。仿真实验证实了该方案的可行性,其结果表明使用DSP芯片实现自主导航算法具有运算速度快、计算精度高等特点,能够很好的满足导航计算机的要求。最后,使用LabVIEW软件编程解决了DSP计算结果以图形化的方式实时显示的问题。
In recent years, celestial navigation has been applied much more widely in astronautic fields because of its high precision, high self-determination and low cost. It has become an important method of spacecraft autonomous navigation.
This dissertation taking near earth satellite as research object, systematically studied the method of satellite autonomous celestial navigation based on multi-sensors, the application of nonlinear filtering method in satellite autonomous navigation system and its DSP realization. In addition, this dissertation also studied the display of DSP calculation results in graphics mode. The main work of this dissertation is summarized as follows:
Firstly, a precise orbital dynamic model of near earth satellite is established in J2000.0 equatorial inertial coordinate system, considering the perturbation influence of earth shape perturbation, atmospheric drag, lunisolar perturbation and solar radiation pressure, etc.
Secondly, the autonomous celestial navigation method is studied using measurement information of attitude sensors on the assumption that the near earth satellite has sun-sensor, earth-sensor and star-sensor simultaneously. The navigation filters based on EKF(Extended Kalman Filter) and UKF(Unscented Kalman Filter) are designed in order to determine the satellite's position and velocity. Numerical simulations are made in order to validate the feasibility of navigation scheme and evaluate the performance of navigation algorithms. In simulation section, this dissertation compare and analyze the performance of EKF and UKF algorithm, discuss the effects of sampling period and sensor precision on positioning accuracy.
Thirdly, this dissertation studied the DSP realization of autonomous navigation algorithm. Transform the navigation algorithm program from computer into CCS(Code Composer Studio, TI's DSP IDE) using C and assembly language, and load the program into TI's TMS320C6713 chip through JTAG interface. When simulation experimentation is in operation, one computer transmit sensor data to DSP chip through RS232 interface in fixed sampling period. After receiving the needed data, DSP run on-board program and do real-time navigation operation. The simulation validated the feasibility of this navigation scheme and its results showed that using DSP chip to realize autonomous navigation algorithm has many merits, such as: high speed, high precision, etc. It can commendably meet navigation computer's requirements. At last, applying the LabLEW software resolve the question which is described as to display the DSP calculation results in graphics mode.
本文以近地轨道卫星为研究对象,着重研究了基于多姿态敏感器的卫星自主天文导航方法及非线性滤波方法在卫星自主导航系统中的应用,并对自主导航算法的DSP实现、DSP计算结果的实时图形显示等问题进行了研究。本文研究的主要内容有:
(1)针对近地轨道卫星,在J2000.0地心赤道惯性坐标系下,综合考虑地球形状摄动、大气阻力摄动、日月引力摄动和太阳光压摄动等因素,建立了较为精确的卫星轨道动力学模型。
(2)针对卫星上同时配备有太阳敏感器、地球敏感器和星敏感器的情况,研究了利用姿态敏感器测量信息进行自主天文导航的方法,分别基于扩展卡尔曼滤波和Unscented卡尔曼滤波两种非线性滤波算法设计了导航滤波器以确定卫星在轨的位置和速度。为验证导航方案的可行性及导航算法的性能,本文进行了数学仿真,对两种滤波算法的性能进行了比较分析,并着重讨论了采样周期和敏感器测量精度对导航系统定轨精度的影响。
(3)研究了自主导航算法的DSP实现问题。采用C语言和汇编语言混合编程的方法将自主导航算法从PC机移植到DSP集成开发环境CCS中,通过JTAG接口将算法程序加载到TMS320C6713芯片。仿真实验时,一台PC机以固定的采样周期通过RS232接口向DSP芯片传输敏感器测量数据,DSP在接收到所需数据后驱动导航算法进行实时的解算处理。仿真实验证实了该方案的可行性,其结果表明使用DSP芯片实现自主导航算法具有运算速度快、计算精度高等特点,能够很好的满足导航计算机的要求。最后,使用LabVIEW软件编程解决了DSP计算结果以图形化的方式实时显示的问题。
In recent years, celestial navigation has been applied much more widely in astronautic fields because of its high precision, high self-determination and low cost. It has become an important method of spacecraft autonomous navigation.
This dissertation taking near earth satellite as research object, systematically studied the method of satellite autonomous celestial navigation based on multi-sensors, the application of nonlinear filtering method in satellite autonomous navigation system and its DSP realization. In addition, this dissertation also studied the display of DSP calculation results in graphics mode. The main work of this dissertation is summarized as follows:
Firstly, a precise orbital dynamic model of near earth satellite is established in J2000.0 equatorial inertial coordinate system, considering the perturbation influence of earth shape perturbation, atmospheric drag, lunisolar perturbation and solar radiation pressure, etc.
Secondly, the autonomous celestial navigation method is studied using measurement information of attitude sensors on the assumption that the near earth satellite has sun-sensor, earth-sensor and star-sensor simultaneously. The navigation filters based on EKF(Extended Kalman Filter) and UKF(Unscented Kalman Filter) are designed in order to determine the satellite's position and velocity. Numerical simulations are made in order to validate the feasibility of navigation scheme and evaluate the performance of navigation algorithms. In simulation section, this dissertation compare and analyze the performance of EKF and UKF algorithm, discuss the effects of sampling period and sensor precision on positioning accuracy.
Thirdly, this dissertation studied the DSP realization of autonomous navigation algorithm. Transform the navigation algorithm program from computer into CCS(Code Composer Studio, TI's DSP IDE) using C and assembly language, and load the program into TI's TMS320C6713 chip through JTAG interface. When simulation experimentation is in operation, one computer transmit sensor data to DSP chip through RS232 interface in fixed sampling period. After receiving the needed data, DSP run on-board program and do real-time navigation operation. The simulation validated the feasibility of this navigation scheme and its results showed that using DSP chip to realize autonomous navigation algorithm has many merits, such as: high speed, high precision, etc. It can commendably meet navigation computer's requirements. At last, applying the LabLEW software resolve the question which is described as to display the DSP calculation results in graphics mode.
引文
1王旭东,潘科炎,李新峰.当前航天器制导、导航和控制的几个问题.航天控制. 1999,17(2): 1~5
2周军.航天器控制原理.西北工业大学出版社, 2001: 148~154 59~70 38~42
3王茂磊,刘阳琦,王振宇.导航战背景下的卫星导航定位技术.舰船电子工程. 2005,25(3): 19~21
4李勇,魏春岭.卫星自主导航技术发展综述.航天控制. 2002,(2): 70~74
5房建成,宁晓琳.天文导航原理及应用.北京航空航天大学出版社, 2006: 168~184 126~133 331~336
6 M. A. Chory, D. P. Hoffman, J. L. LeMay. Satellite Autonomous Navigation - Status and History. Proceedings of the IEEE Position Location and Navigation Symposium, LasVegas, NV, November, 1986: 110~121
7 R. L. White, R. B. Gounley. Satellite Autonomous Navigation with SHAD. The Chales Stark Draper Laboratory, Inc, Cambridge, Massachusetts, 1987
8 R. W. Hosken, J. R. Wertz. Microcosm Autonomous Navigation System On-Orbit Operation. Proceedings of the 18th Annual AAS Guidance and Control Conference, Keystone, Colorado, February, 1995, AAS95-074: 491~506
9荆武兴.基于日地月方位信息的近地轨道卫星自主导航.宇航学报. 2003, 24(4): 418~420
10杨博,房建成,伍小洁.星光折射航天器自主定轨方案比较.航天控制. 2001,(3): 1~6
11周凤岐,赵黎平,周军.基于星光大气折射的卫星自主轨道确定.宇航学报. 2002,23(4): 20~23
12李琳琳,孙辉先.基于星敏感器的星光折射卫星自主导航方法研究.系统工程与电子技术. 2004,26(3): 353~357
13魏春岭,李勇,陈义庆.基于紫外敏感器的航天器自主导航.航天控制. 2004,22(3): 35~39
14耿建中,肖业伦,韩潮.基于紫外敏感器的卫星自主导航方法研究.航天控制. 2007,25(2): 47~51
15郭建新,解永春.基于姿态敏感器的地球同步轨道卫星自主导航研究.航天控制. 2003,(4): 1~6
16马剑波,徐劲,曹志斌.一种利用星敏感器的卫星自主定轨方法.中国科学G辑. 2005,35(2): 213~224
17 H. W. Sorenson. Kalman Filtering: Theory and Application. IEEE Press, 1985
18 J. K. Uhlmann. Algorithms for Multiple Target Tracking. American Scientist. 1992,80(2): 128~141
19 A. Farina, D. Benvenuti. Tracking a Ballistic Target: Comparison of Several Nonlinear Filters, IEEE Transaction on Aerospace and Electronic Systems. 2002,38(3): 854~867
20 S. J. Julier, J. K. Uhlmann, H. F. Durrant-Whyte. A New Approach for the Nonlinear Transformation of Means and Covariances in Linear Filters. IEEE Transactions on Automatic Control, 1996
21 S. J. Julier, J. K. Uhlmann. A New Extension of the Kalman Filter to Nonlinear Systems. Proceedings of AeroSense, The 11th International Symposium on Aerospace/Defense Sensing, Simulation and Controls, Orlando FL, USA, 1997
22 S. J. Julier, J. K. Uhlmann. Reduced Sigma Point Filters for the Propagation of Means and Covariances Through Nonlinear Transformations. Proceedings of the American Control Conference, Anchorage, AK, 2002: 887~892
23 M. S. Arulampalam, S. Maskell, N. Gordon. A Tutorial on Particle Filter for Online Nonlinear/Non-Gaussian Bayesian Tracking. IEEE Transaction on Signal Processing. 2002,50(2): 174~188
24 R. van der Merwe, A. Doucet, N. de Freitas, E. Wan. The Unscented Particle Filter, Technical Report CUED/FINFENG/TR 380. Cambridge University Engineering Department, August, 2000: 1064~1070
25郭朝华,李华旺,陈浩.一种并行存储器系统的FPGA实现.电子技术应用. 2000,(7): 44~45
26 H. B. Christophersen, R. W. Pickell. A Compact Guidance, Navigation and Control System for Unmanned Aerial Vehicles. Journal of Aerospace Computing, Information and Communication. 2006,3(5): 187~213
27 Y. L. Du, J. Y. Liu. Application of DSP EMbedded System in Integrated Navigation System. Journal of Data Acquisition and Processing. 2005,20(4): 483~487
28 P. Anderson, G. Whitworth, V. Ashe, T. Carter. DSP and GPS Combination for Mobile Communication Platforms. Proceedings of the 17th International Technical Meeting of the Satellite Division of the Institute of Navigation, 2004: 1006-1012
29 F. Pereli, R. Rajagopalan. Parallel Digital Signal Processing(DSP) Vehicle Controller for Automated Vehicles. Proceedings of SPIE-The International Society for Optical Engineering, 1996:173-182
30夏辉,车国轮.基于DSP的导航计算机设计.微处理机. 2006(2): 55~57
31薛志宏,刘建业.基于DSP和单片机的双CPU导航计算机设计.嵌入式系统. 2003,(4): 54~57
32孙永荣,刘建业.微小型导航系统中高精度导航计算机设计.传感器与微系统. 2006,25(10): 54~56
33朱新忠,卫新国,陈明清.新一代并行处理星载计算机技术研究.上海航天. 2004,(1): 32~37
34盖建宁,谢华,卫新国.某微小型卫星姿轨控计算机系统的设计.上海航天. 2003,(3): 44~47
35张燕,荆武兴.一种利用双DSP实现卫星SEMOI自主导航方法.哈尔滨工业大学学报. 2006,38(3): 367~369
36章仁为.卫星轨道姿态动力学与控制.北京航空航天大学出版社, 2005: 137~138 39~71
37赵黎平.近地卫星自主轨道确定和控制系统研究.西北工业大学博士论文. 2002: 23~27
38 B. Kaufman, R. Campion, R. W. Vorder Bruegge. An Overview of the Astrodynamics for the Deep Space Program Science Experiment Mission. Spaceflight Dynamics. 1993,84(1): 141~155
39刘林.航天器轨道理论.国防工业出版社, 2000: 252~253
40付梦印,邓志红,张继伟. Kalman滤波理论及其在导航系统中的应用.科学出版社, 2003: 79~84
41 J. K. Uhlmann. Simultaneous Map Building and Localization for Real Time Applications. Technical Report, University of Oxford, 1994
42 E. A. Wan, R. van der Merwe. The Unscented Kalman Filter for Nonlinear Estimation. Proceedings of IEEE Symposium 2000(AS-SPCC), Lake Louise, Alberta, Canada, October, 2000
43 R. van der Merwe, E. A. Wan. The Square-Root Unscented Kalman Filter for State and Parameter-Estimation. Proceedings of the International Conference on Acoustic, Speech, and Signal Processing, Salt Lake City, UT, 2001
44蔡洪,张士峰,张金槐. Bayes试验分析与评估.国防科技大学出版社, 2004: 171~179
45 TMS320C6000 CPU and Instruction Set, SPRU189F, Texas Instruments, Dallas, TX, 2000
46 R. Chassaing. DSP原理及其C编程开发技术.王华,张健.电子工业出版社, 2005: 48~52
47彭启琮,管庆. DSP集成开发环境——CCS及DSP/BIOS的原理与应用.电子工业出版社, 2005: 1~15
48 TMS320C6000 Assembly Language Tools User’s Guide, SPRU186G, Texas Istruments, Dallas, TX, 2000
49钱杏芳,林瑞雄,赵亚男.导弹飞行力学.北京理工大学出版社, 2006: 74~80
50杨乐平,李海涛,杨磊. LabVIEW程序设计与应用.电子工业出版社, 2005: 1~4 215~235
2周军.航天器控制原理.西北工业大学出版社, 2001: 148~154 59~70 38~42
3王茂磊,刘阳琦,王振宇.导航战背景下的卫星导航定位技术.舰船电子工程. 2005,25(3): 19~21
4李勇,魏春岭.卫星自主导航技术发展综述.航天控制. 2002,(2): 70~74
5房建成,宁晓琳.天文导航原理及应用.北京航空航天大学出版社, 2006: 168~184 126~133 331~336
6 M. A. Chory, D. P. Hoffman, J. L. LeMay. Satellite Autonomous Navigation - Status and History. Proceedings of the IEEE Position Location and Navigation Symposium, LasVegas, NV, November, 1986: 110~121
7 R. L. White, R. B. Gounley. Satellite Autonomous Navigation with SHAD. The Chales Stark Draper Laboratory, Inc, Cambridge, Massachusetts, 1987
8 R. W. Hosken, J. R. Wertz. Microcosm Autonomous Navigation System On-Orbit Operation. Proceedings of the 18th Annual AAS Guidance and Control Conference, Keystone, Colorado, February, 1995, AAS95-074: 491~506
9荆武兴.基于日地月方位信息的近地轨道卫星自主导航.宇航学报. 2003, 24(4): 418~420
10杨博,房建成,伍小洁.星光折射航天器自主定轨方案比较.航天控制. 2001,(3): 1~6
11周凤岐,赵黎平,周军.基于星光大气折射的卫星自主轨道确定.宇航学报. 2002,23(4): 20~23
12李琳琳,孙辉先.基于星敏感器的星光折射卫星自主导航方法研究.系统工程与电子技术. 2004,26(3): 353~357
13魏春岭,李勇,陈义庆.基于紫外敏感器的航天器自主导航.航天控制. 2004,22(3): 35~39
14耿建中,肖业伦,韩潮.基于紫外敏感器的卫星自主导航方法研究.航天控制. 2007,25(2): 47~51
15郭建新,解永春.基于姿态敏感器的地球同步轨道卫星自主导航研究.航天控制. 2003,(4): 1~6
16马剑波,徐劲,曹志斌.一种利用星敏感器的卫星自主定轨方法.中国科学G辑. 2005,35(2): 213~224
17 H. W. Sorenson. Kalman Filtering: Theory and Application. IEEE Press, 1985
18 J. K. Uhlmann. Algorithms for Multiple Target Tracking. American Scientist. 1992,80(2): 128~141
19 A. Farina, D. Benvenuti. Tracking a Ballistic Target: Comparison of Several Nonlinear Filters, IEEE Transaction on Aerospace and Electronic Systems. 2002,38(3): 854~867
20 S. J. Julier, J. K. Uhlmann, H. F. Durrant-Whyte. A New Approach for the Nonlinear Transformation of Means and Covariances in Linear Filters. IEEE Transactions on Automatic Control, 1996
21 S. J. Julier, J. K. Uhlmann. A New Extension of the Kalman Filter to Nonlinear Systems. Proceedings of AeroSense, The 11th International Symposium on Aerospace/Defense Sensing, Simulation and Controls, Orlando FL, USA, 1997
22 S. J. Julier, J. K. Uhlmann. Reduced Sigma Point Filters for the Propagation of Means and Covariances Through Nonlinear Transformations. Proceedings of the American Control Conference, Anchorage, AK, 2002: 887~892
23 M. S. Arulampalam, S. Maskell, N. Gordon. A Tutorial on Particle Filter for Online Nonlinear/Non-Gaussian Bayesian Tracking. IEEE Transaction on Signal Processing. 2002,50(2): 174~188
24 R. van der Merwe, A. Doucet, N. de Freitas, E. Wan. The Unscented Particle Filter, Technical Report CUED/FINFENG/TR 380. Cambridge University Engineering Department, August, 2000: 1064~1070
25郭朝华,李华旺,陈浩.一种并行存储器系统的FPGA实现.电子技术应用. 2000,(7): 44~45
26 H. B. Christophersen, R. W. Pickell. A Compact Guidance, Navigation and Control System for Unmanned Aerial Vehicles. Journal of Aerospace Computing, Information and Communication. 2006,3(5): 187~213
27 Y. L. Du, J. Y. Liu. Application of DSP EMbedded System in Integrated Navigation System. Journal of Data Acquisition and Processing. 2005,20(4): 483~487
28 P. Anderson, G. Whitworth, V. Ashe, T. Carter. DSP and GPS Combination for Mobile Communication Platforms. Proceedings of the 17th International Technical Meeting of the Satellite Division of the Institute of Navigation, 2004: 1006-1012
29 F. Pereli, R. Rajagopalan. Parallel Digital Signal Processing(DSP) Vehicle Controller for Automated Vehicles. Proceedings of SPIE-The International Society for Optical Engineering, 1996:173-182
30夏辉,车国轮.基于DSP的导航计算机设计.微处理机. 2006(2): 55~57
31薛志宏,刘建业.基于DSP和单片机的双CPU导航计算机设计.嵌入式系统. 2003,(4): 54~57
32孙永荣,刘建业.微小型导航系统中高精度导航计算机设计.传感器与微系统. 2006,25(10): 54~56
33朱新忠,卫新国,陈明清.新一代并行处理星载计算机技术研究.上海航天. 2004,(1): 32~37
34盖建宁,谢华,卫新国.某微小型卫星姿轨控计算机系统的设计.上海航天. 2003,(3): 44~47
35张燕,荆武兴.一种利用双DSP实现卫星SEMOI自主导航方法.哈尔滨工业大学学报. 2006,38(3): 367~369
36章仁为.卫星轨道姿态动力学与控制.北京航空航天大学出版社, 2005: 137~138 39~71
37赵黎平.近地卫星自主轨道确定和控制系统研究.西北工业大学博士论文. 2002: 23~27
38 B. Kaufman, R. Campion, R. W. Vorder Bruegge. An Overview of the Astrodynamics for the Deep Space Program Science Experiment Mission. Spaceflight Dynamics. 1993,84(1): 141~155
39刘林.航天器轨道理论.国防工业出版社, 2000: 252~253
40付梦印,邓志红,张继伟. Kalman滤波理论及其在导航系统中的应用.科学出版社, 2003: 79~84
41 J. K. Uhlmann. Simultaneous Map Building and Localization for Real Time Applications. Technical Report, University of Oxford, 1994
42 E. A. Wan, R. van der Merwe. The Unscented Kalman Filter for Nonlinear Estimation. Proceedings of IEEE Symposium 2000(AS-SPCC), Lake Louise, Alberta, Canada, October, 2000
43 R. van der Merwe, E. A. Wan. The Square-Root Unscented Kalman Filter for State and Parameter-Estimation. Proceedings of the International Conference on Acoustic, Speech, and Signal Processing, Salt Lake City, UT, 2001
44蔡洪,张士峰,张金槐. Bayes试验分析与评估.国防科技大学出版社, 2004: 171~179
45 TMS320C6000 CPU and Instruction Set, SPRU189F, Texas Instruments, Dallas, TX, 2000
46 R. Chassaing. DSP原理及其C编程开发技术.王华,张健.电子工业出版社, 2005: 48~52
47彭启琮,管庆. DSP集成开发环境——CCS及DSP/BIOS的原理与应用.电子工业出版社, 2005: 1~15
48 TMS320C6000 Assembly Language Tools User’s Guide, SPRU186G, Texas Istruments, Dallas, TX, 2000
49钱杏芳,林瑞雄,赵亚男.导弹飞行力学.北京理工大学出版社, 2006: 74~80
50杨乐平,李海涛,杨磊. LabVIEW程序设计与应用.电子工业出版社, 2005: 1~4 215~235
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