中国空间科学技术

中国空间科学技术 ›› 2024, Vol. 44 ›› Issue (4): 50-58.doi: 10.16708/j.cnki.1000-758X.2024.0057

• 智能航天器专栏 • 上一篇    下一篇

弱引力小天体的自主捕获与相对导航方法

刘一武，胡锦昌，梁潇，田启航，张辉，尹芳   

  1. 1.北京控制工程研究所，北京100094
    2.空间智能控制技术全国重点实验室，北京100094
  • 出版日期:2024-08-25 发布日期:2024-07-26

Autonomous capturing and relative navigation methods for small celestial bodies

LIU Yiwu，HU Jinchang，LIANG Xiao，TIAN Qihang，ZHANG Hui，YIN Fang   

  1. 1.Beijing Institute of Control Engineering，Beijing 100094，China
    2.National Key Laboratory of Space Intelligent Control，Beijing 100094，China
  • Published:2024-08-25 Online:2024-07-26

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摘要： 远距离自主捕获与近距离高精度自主相对导航是小天体探测任务中的关键问题，并且目标尺寸越小，问题越突出。首先，针对数万千米到数千千米远距离范围内的星空背景暗弱目标难以识别的问题，提出综合利用运动学和亮度的全自主捕获和识别方法，可以实现距离大范围变化的快速准确捕获，具备了3万千米以远捕获10等星暗弱目标的能力；其次，针对数千到数十千米范围交会段视线测量可观性不足的问题，提出基于视线和轨迹机动一体化设计的相对导航方法，在考虑燃料消耗的前提下有效地提高了轨迹可观性，实现了交会段优于5%精度的相对位置导航；最后，针对近距离不规则小天体表面附近的相对导航问题，提出基于图像陆标和点云特征相结合的光学导航方法，可同时适应阳照区和阴影区的探测需求，并结合基于多源数据融合的弱引力小天体重力场反演方法，进一步提高近距相对导航的精度，近距采样相对位置优于1m，相对速度优于1cm/s。对所提出的方法进行了数学和物理的仿真验证。提出的方法有效解决了小天体探测中的高精度相对导航问题，也能适用于数十米量级直径大小和明暗快速交替变化的小天体着陆探测任务。

关键词: 小天体探测, 接近与附着, 自主捕获, 相对导航, 图像导航

Abstract: Long-range autonomous capture and close-range high-precision autonomous relative navigation are key issues in small celestial body exploration tasks，and the smaller the target size，the more prominent the problem is.Firstly，to deal with the difficulty in identifying dim targets in the starry sky background within a long distance range from tens of thousands to thousands of kilometers，a fully autonomous capture and recognition method that comprehensively utilizes kinematics and brightness is proposed，which can achieve fast and accurate capture of large range changes，and has the ability to capture Mv10 dim targets in the starry sky at a distance of 30000 kilometers.Secondly，to cope with the problem of insufficient observability in line-of-sight measurement in the range of thousands to tens of kilometers during rendezvous，a relative navigation method based on integrated design of line-of-sight and trajectory maneuvering is proposed，which effectively improves trajectory observability while considering fuel consumption，and achieves relative position navigation with an accuracy superior to 5% in the rendezvous segment.Finally，to address the relative navigation problem near irregular small celestial bodies in close range，an optical navigation method based on the combination of image landmarks and point cloud features is proposed，which can simultaneously adapt to the detection needs of sunny and shaded areas.Combined with the weak gravitational force field measuring method based on multi-source data fusion，the accuracy of close-range relative navigation is further improved.The relative position accuracy at close-range is better than 1m，while the relative velocity is better than 1cm/s.The proposed method was validated through mathematical and physical simulations.The method proposed in this article effectively solves the high-precision navigation problem in small celestial body exploration，and can be applied to small celestial body landing detection tasks with diameters of tens of meters and rapid alternation of light and shadow areas.

Key words: small celestial bodies′ exploration, approaching and attaching, autonomous capturing of asteroids, relative navigation, image navigation