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提出了一种用于探测器在巡航段的自主光学导航方案,该方案利用光学导航相机以及星敏感器,通过测量星光信息以及天体边缘的信息,得出了探测器的相对位置。在此基础上针对导航系统状态方程和观测方程的非线性问题,提出了SR-UPF(Square-Root Unscented Particle Filter)算法,该方法将平方根UKF滤波和粒子滤波有机结合起来,可更好地提高自主导航系统的准确度和可靠性。通过数学仿真表明改进的算法与原UPF算法相比,收敛速度更快,滤波精度更高。
An autonomous optical navigation scheme for the detector at the cruise segment is proposed. The scheme uses the optical navigation camera and the star sensor to obtain the relative position of the detector by measuring the information of the star light and the edge of the celestial body. Based on this, a new algorithm called Square-Root Unscented Particle Filter (SR-UPF) is proposed to solve the nonlinear equations of the state equation and observation equation of the navigation system. This method combines the square root UKF filter with the particle filter, Autonomous navigation system accuracy and reliability. The mathematical simulation shows that the improved algorithm has faster convergence speed and higher filtering accuracy than the original UPF algorithm.