摘要深空探测在当今航天任务中占有很重要的地位，随着航天技术的发展，人类对外太空的探索正逐步走向深空，这也是航天探测的必然趋势。本文主要对基于北斗卫星导航、天文导航实现的组合导航技术及其对应的扩展卡尔曼滤波算法（EKF）进行分析和探讨。
首先，介绍深空组合导航的背景和意义、发展概况和趋势、卫星导航定位的基本原理和数学模型以及扩展卡尔曼滤波（EKF）算法。其次，使用 STK 软件搭建北斗卫星导航系统、建立需要导航定位的用户卫星，并在两者之间建立链路，得到卫星在轨运行数据， 然后采用扩展卡尔曼滤波 （EKF） 算法分别对北斗卫星导航、天文导航两种方式进行非线性滤波，再利用联邦滤波算法对两种导航信息进行信息融合 ，以实现深空组合导航。最后，结合仿真结果，对组合导航方式在深空探测中的特点进行分析。22422
关键词：深空探测、北斗卫星导航、星光角距、组合导航、扩展达尔曼滤波(EKF)
Title The Research of Integrated Navigation Technology In Deep space probes
Abstract
Deep space exploration occupies a very important position in today's
spacecraft mission , with the development of space technology , the
human exploration of outer space is gradually moving towards deep space
, which is the inevitable trend of space exploration .This paper mainly
analysis and research deep space integrated navigation which is
implemented basing on Beidou satellite navigation and celestial
navigationand, and realize the corresponding extended Kalman filter
(EKF).
Firstly, the background and significance , development situation and
trends of deep space integrated navigation , basic principles and
mathematical models of satellite navigation and positioning , and
extended Kalman filter (EKF) algorithm will be introduced. Secondly ,
using STK software to build the Beidou satellite navigation system, the
satellite of user's which needs navigation and positioning , and
establishing a link between the system and satellite in orbit to get the
data , and then using the extended Kalman filter (EKF) algorithm take a
nonlinear filtering to Beidou satellite navigation system, celestial
navigation respectively , and use federal information filtering
algorithm make a fusion about two kind of navigation information in order
to achieve a combination of deep space navigation . Finally, analysing the
characteristics of deep space integrated navigation in deep space
exploration combining the simulation results.
Keywords ： Deep space exploration, the Beidou satellite navigation,
starlight angular distance, integrated navigation, extended Dahlman Filter (EKF)
目 次
1 绪论..1
1.1 论文研究背景和意义.1
1.2 深空探测发展综述和发展趋势1
1.3 本文主要内容和篇章结构..2
2 深空组合导航的基本理论. 3
2.1 坐标基准和时间基准.3
2.1.1 坐标基准3
2.1.2 时间基准3
2.2 北斗卫星导航定位原理4
2.3 星光角距导航定位原理5
2.4 卫星自主定轨数学模型6
2.4.1 卫星轨道动力学模型.6
2.4.2 北斗卫星导航系统量测方程.7
2.4.3 基于星光角距导航量测方程.8
3 卫星组合导航的滤波算法. 9
3.1 扩展卡尔曼滤波算法（EKF)9
3.1.1 系统状态雅可比矩阵..11
3.1.2 系统量测雅可比矩阵..11
3.2 联邦滤波算法..12
4 组合导航系统结构设计与仿真分析. 14
4.1 北斗卫星导航系统的仿真和分析14
4.1.1 北斗卫星导航系统和用户卫星的建立.14
4.1.2 仿真结果及分析.17
4.1.3 卫星轨迹的EKF 仿真 19
4.2 基于星光角距导航的仿真和分析21 深空探测器组合导航技术研究+文献综述:http://www.751com.cn/zidonghua/lunwen_15042.html