GPS和类GPS载波用于编队星座状态测量

为了确定编队星座的星间相对位置和卫星姿态,在原有联合GPS差分和类GPS伪距进行状态确定的研究基础上,进一步加入了类GPS载波差分信息。利用高精度的类GPS伪距给卫星间公里级的基线提供厘米级的约束,并采用Bayes最小二乘法快速解算出GPS星间载波单差整周模糊度；先由GPS伪距单点定位、GPS星内差分定姿获得卫星间相对位置、卫星姿态的先验信息,再采用Bayes最小二乘进行编队星座状态整体确定。数学仿真结果表明卫星间相对位置确定精度优于10~(-2) m,加入类GPS载波差分后能极大提高卫星姿态确定精度,使其优于10~(-5)rad。     

浙江大学皮星二号实时精密自主定轨算法与半实物仿真

本文研究了基于星载GPS的简化动力学实时精密自主定轨模型和算法,并将实时自主定轨软件应用于浙江大学皮星二号（ZDPS-2）在轨飞行任务中去。本文阐述了软件所采用的动力学模型、观测模型和估计算法框架,以及实现时所采取的可靠性设计方法。在此基础上,利用GRACE卫星GPS接收机在轨数据,对该自主研发的实时精密自主定轨软件进行了验证。结果表明：实时定轨位置精度在X、Y、Z三轴上的RMS（Root-Mean-Square）值分别为1.3133 m、0.9052 m、0.9648 m,速度精度在X、Y、Z三轴上的RMS值分别为2.1 mm/s、1.2 mm/s、1.5 mm/s,接近国际研究水平。此外,基于皮星二号任务载荷-微型单频GPS接收机进行了半实物仿真试验。结果表明：定轨位置精度达到5 m左右,速度精度达到10 mm/s以内,与接收机自身定轨软件解算结果对比,定轨精度得到大幅提升,使其能满足一般皮纳卫星的应用需求。     

编队飞行卫星自主相对定轨研究

卫星编队飞行相对轨道自主确定作为实现队形保持和控制的前提,是编队任务必须解决的关键技术问题.根据C-W方程的解析解描述编队卫星间的相对运动规律,选取星间距离信息与方位信息作为观测量,针对卫星编队飞行自主导航系统对精确性和实时性的要求,用超球面分布采样点变换(Spherical Simplex Unscented Transformation,SSUT)和Unscented卡尔曼滤波(UKF)相结合,提出了SSUT的UKF(SSUKF)导航滤波算法.由于SSUT减少了采样点个数,在保证滤波精度和标准UKF相当的条件下减轻了计算负担,完成了卫星编队相对轨道状态的自主确定,并结合仿真的轨道数据和测量数据进行了仿真,仿真结果说明实现了卫星编队优化的有效性和实时性.     

卫星编队InSAR基线的确定方法

基于卫星编队的InSAR系统是一个多基雷达系统,依靠卫星编队构型形成干涉所需的基线.在卫星编队的InSAR系统中,由于参与编队的各卫星相对位置不断变化,故其基线值也在不断变化.在动态变化中基线测量所得的基线一般是某一时刻两颗卫星雷达天线相位中心之间的连线,不能直接用于高程测量,需要对基线重新进行确定.本文在分析了需要基线确定原因的基础上,提出了基线确定的方法,并分析了基线误差对InSAR高程测量精度的影响.     

空间光通信中轨道短时预报

瞄准、捕获和跟踪(PAT)技术是星间光通信的关键技术之一,高精度卫星轨道短时预报能有效实现PAT.首先在EGM96地球引力场模型下建立了卫星状态动力方程和预报方程,然后改进基于数值算法的扩展卡尔曼滤波算法对卫星轨道短时预报,最后以champ卫星星载GPS实时定轨数据为卡尔曼滤波器观测数据进行仿真实验:预报卫星位置误差约亚米级,速度误差约0.05m/s;卫星位置和速度的均方差估计趋于稳定,在一定程度上能很好地克服离散误差和模型误差对轨道估计精度的影响.PAT瞄准精度约1.6 μrad.预报轨道精度能满足空间光通信PAT技术要求.     

地球J_2摄动下卫星编队飞行自主相对定轨研究

卫星编队飞行自主相对定轨作为实现编队队形保持和控制的前提,是编队任务必须解决的关键技术之一.设计了一种应用于卫星编队的自主相对轨道确定方案,不同于目前广泛采用的C-W方程,采用了包含摄动影响的相对运动方程的解析表达式描述编队飞行,使得模型的精度有了很大提高.利用星间距离信息和方位信息作为观测量,设计扩展卡尔曼滤波器实现环绕星相对轨道的自主确定,仿真结果表明使用本方案得到的定轨精度比采用C-W方程提高一个数量级,验证了这种导航方案的有效性,为实现编队飞行卫星高精度自主相对定轨提供了一个有效的方案.     

编队飞行卫星高精度自主相对定轨研究

设计了一种应用于卫星编队的自主相对轨道确定方案,不同于目前广泛采用的C-W方程,采用了包含摄动影响的相对运动方程的解析表达式描述编队飞行。利用星间距离信息和方位信息作为观测量,设计扩展卡尔曼滤波器实现环绕卫星相对轨道的自主确定,仿真结果表明定轨精度比采用C-W方程提高一个数量级,验证了这种导航方案的有效性。     

GRACE：轨道上的毫米和微米级测量

GRACE卫星已于2002年3月17发射入轨。CRACE任务的实验目的旨在改进地球重力场模型的精度。CRACE任务由两颗几乎完全一样的孪生卫星来执行，两颗GRACE卫星运行在约500km高度的同一个准极轨道平面内，相距约200km。每颗卫星携带四种仪器：一台GPS接收机，一个K／Ka波段微波测距系统，一台星像机(这三种仪器均与一个公用处理器组装为一体)，一个精密加速度计。GPS接收机能够跟踪最多14颗GPS卫星，可获得的双频数据精度与精密测地型地面接收机相当。K／Ka波段微波测距系统能实现μm级的测距精度(有一个常值偏差)。加速度计的测量精度高达1mm／s^2。而星跟踪器的姿态测量精度为10″。GPS数据经处理后可用于：(1)复原地球的长波引力场；(2)消除星上振荡器长期漂移引起的误差；(3)使2个GRACE卫星的K／Ka波段测量的定时精度校准到优于0．1ns。加速度计的标度因子和偏值参数是综合利用GPS数据和加速度计误差模型确定的。本文着重介绍利用GPS实现的这些定时扣标定功能，而不讨论地球重力场的恢复问题。当然，GPS的定时功能与精确定轨(POD)密切相关。三轴的定轨精度均优于2cm。本文发表了GRACE的验证结果，包括GPS残差，轨道重叠，K／Ka波段测距以及卫星激光测距(SLR)的结果。为确定轨道参数和时钟参数，所有GPS数据的处理都是利用一个数据驱动的自动化系统完成的，该处理系统是专门为装备GPS接收机的卫星星座设计的。     

自适应MEMS加速度计滤波算法

简要分析了微机电系统（MEMS）加速度计使用模型中的噪声来源,介绍了一种自适应平滑滤波器的设计方法,通过增设滤波阈值来调节滤波系数,实现了对 MEMS 加速度数据的动态降噪处理。实验结果表明：自适应平滑滤波器能有效抑制加速度计输出信号中的高频噪声,滤波前噪声信号均方根误差为2.32×10－5 m/ s2,经过滤波后,噪声信号均方根误差为4.79×10－7 m/ s2,提高了加速度计的测量精度,取得了良好的滤波效果。     

卫星编队飞行相对轨道的确定

卫星之间相对轨道的确定对于多颗卫星编队飞行的控制和任务是十分重要的，结合空间圆形的编队飞行星座，本文给出了描述卫星近距离运动的C-W方程，讨论了空间圆形的编队卫星星座的构成，进而设定了利用激光仪测量星间位置矢量，并设计了Kalman滤波器来实现相对轨道的确定，分析和仿真结果表明，Kalman滤波器能够有效提高相对位置确定精度并给出相对速度的高精度估计。     

A new autonomous celestial navigation method for the lunar rover

A secure and autonomous navigation system is needed for the lunar rover in future lunar missions in case of emergencies. Celestial navigation is a very attractive solution for long distance navigation on the Moon without the need of ground navigation aids. It only uses star altitudes, which are measured by a high accuracy star sensor and inertial measurement unit (IMU) to estimate the position of the rover. The navigational accuracy of this method depends largely on the accuracy of measurements, so the measurement errors have a great impact on the navigational performance. A new autonomous celestial navigation method for the lunar rover is presented in this paper, which uses the augmented state unscented particle filter (ASUPF) to deal with the systematic error and random error in the measurements. The validity and feasibility of this new method is tested and examined by the hardware-in-loop test. A position estimation error within 60 m is obtained. Compared to the conventional method, this method shows better navigation performance and higher adaptability to these measurement errors.     

AN INTRODUCTION TO SUBQUANTUM KINETICS: II. An Open Systems Description of Particles and Fields

A nonlinear reaction-diffusion system, designated as Model G, is described. This system is similar to the Brusselator with the exception that it includes a third reaction intermediate, variable G. It is shown that a reaction-diffusion substrate of the kind specified by Model G is able to give rise to localized steady state concentration inhomogeneities which are autonomous and self-stabilizing and which exhibit many of the properties of subatomic particles. These “dissipative structures” generate substrate concentration gradients (fields) about themselves which serve as physically realistic analogs of gravitational and electrostatic potential fields. Test particles placed in these 1/r fields are found to experience a 1/r² accelerating force. Thus action-at-a-distance is elucidated, The same field giving rise to “electrostatic” effects is capable of causing closely spaced particles to undergo nuclear binding. Atom formation with electron orbital quantization is also predicted to occur. The fieid/source and wave/particle dualisms of classical field theory, as well as the field singularity problem, are avoided. It is predicted that gravitational mass, like electrostatic charge, manifests in two polarities, with the positive and negative mass states being correlated respectively with positive and negative charge     

Filtration of the Gravitational Frequency Shift in Radio Link Communications with Earth’s Satellites

At present, the Radioastron (RA) Earth’s satellite has a very elliptic orbit, which is used to probe the gravitational redshift effect. The objective of this test is to enhance the accuracy of the measurement that will be used to check the correspondence value of the effect to EinsteinБ’s theory by an order of magnitude better than was done in the GP-A experiment (Vessot et al., 1980). There are two H-masers at our disposal: one on board the satellite and the other at the Land Tracking Station (LTS). It is possible to compare the satellite’s mutual time rates using communication radio links between RA and LTS. In contrast to the GP-A experiment, it is possible to measure the repetition and accumulation of data in the process of RA orbital circulation. In principle, this might result in an increase in the integral accuracy. In this paper, we investigate the achievable accuracy in the redshift extractionmethod associated with technical specifications of the RA mission.     

Vision‐aided Guidance and Navigation for Close Formation Flight

Close formation flight can extend an unmanned aerial vehicle's (UAV) range and endurance by utilizing lift from a wingman's wake vortices and by autonomous midair refueling or recharging. The prohibitive challenge in each of these applications is the highly accurate and reliable relative positioning that is required to station‐keep in the wingman's wake and to dock, amid external disturbances. Global navigation satellite systems are well‐suited to reliable absolute positioning, but they fall short for accurate relative positioning. This work proposes a relative positioning solution for UAV rendezvous and close formation flight that has been verified in multiple flight tests. A nonlinear estimation framework uses precise air‐to‐air measurements to correct onboard sensor measurements and produce an accurate relative state estimate that is resilient to intermittent relative measurement outages and degrades gracefully during extended outages. A guidance strategy compensates for wingman turn dynamics, acts explicitly on the estimated relative state, and is applicable to both rendezvous and formation flight. Ground testing showed a relative position estimate accuracy that is 2% of the separation distance, with successful detection and correspondence at up to 36 m. Autonomous close formation flight tests verified the relative positioning solution over extended periods, as close as two wingspans, in winds that were 30%–40% of the cruise airspeed, and at altitudes as low as 15 m. Root‐mean‐square relative position errors were 1.2 m horizontally and 0.44 m vertically during flights at the closest separation.     

Long-Term Linear-Quadratic Control of Satellite Constellations in Highly Elliptical Orbits

A mathematical model is proposed for representing a multisatellite constellation as a tree graph for the purpose of maintaining its formation. The method of correction of the satellite constellation with transversal impulses using the classical linear-quadratic control is developed. The results of the long-term modeling of a satellite constellation (SC) of four spacecraft for different variants representing its formation as a graph are presented. Questions on the stability of the control laws and accuracy of maintaining the fformation are discussed; the necessary expenses of the characteristic velocity of the corrective impulses are listed. The choice of the control-law parameters reflects a compromise between the accuracy of maintaining the formation and the required fuel consumption. The method allows taking into account an additional requirement, which is typical for highly elliptical orbits: the restriction of the minimum altitude of the perigee. The modeling of the constellations involved using a highly accurate model to predict the spacecraft’s motion, which takes into account the noncentrality of the Earth’s gravitational field, the gravity of the Moon and Sun, and the pressure of solar radiation.     

Near real-time geocoding of SAR imagery with orbit error removal

When utilizing knowledge of the spacecraft trajectory for near real-time geocoding of Synthetic Aperture Radar (SAR) images, the main problem is that predicted satellite orbits have to be used, which may be in error by several kilometres. As part of the development of a Dutch autonomous mobile ground station to receive and process satellite SAR data, a method has been developed that removes the effects of orbit errors from the computed azimuth and slant-range coordinates, whilst maintaining the real-time character. Results show that predicted orbits can be used to geocode SAR imagery in near real time with the same accuracy as when using precise orbits, i.e. 30–40m.     

Positional accuracy of the Wide Area Augmentation System in consumer-grade GPS units

Global Positioning System devices are increasingly being used for data collection in many fields. Consumer-grade GPS units without differential correction have a published horizontal positional accuracy of approximately 10-15 m (average positional accuracy). An attractive option for differential correction for these GPS units is the Wide Area Augmentation System (WAAS). Most consumer-grade GPS units on the market are WAAS capable. According to the Federal Aviation Authority (FAA), the WAAS broadcast message provides integrity information about the GPS signal as well as accuracy improvements, which are reported to improve accuracy to 3-5 m. Limited empirical evidence has been published on the accuracy of WAAS-enabled GPS compared to autonomous GPS. An empirical study was conducted comparing the horizontal and vertical accuracy of WAAS-corrected GPS and autonomous GPS under ideal conditions using consumer-grade receivers. Data were collected for 30-min time spans over accurately surveyed control points. Metrics of median, 68th and 95th percentile, Root Mean Squared Error (RMSE), and average positional accuracy in the horizontal and vertical dimensions were computed and statistically compared. No statistically significant difference was found between WAAS and autonomous position fixes when using two different consumer-grade units. When using WAAS, a third unit type exhibited a statistically significant improvement in positional accuracy. Analysis of data collected for a 27-h time span indicates that while WAAS is altering the estimated position of a point compared to an autonomous position estimate, WAAS augmentation actually appears to decrease the positional accuracy.     

Geo-referencing forest field plots by co-registration of terrestrial and airborne laser scanning data

Remote sensing plays an important role within the field of forest inventory. Airborne laser scanning (ALS) has become an effective tool for acquiring forest inventory data. In most ALS-based forest inventories, accurately positioned field plots are used in the process of relating ALS data to field-observed biophysical properties. The geo-referencing of these field plots is typically carried out by means of differential global navigation satellite systems (dGNSS), and often relies on logging times of 15–20 min to ensure adequate accuracy under different forest conditions. Terrestrial laser scanning (TLS) has been proposed as a possible tool for collection of field data in forest inventories and can facilitate rapid acquisition of these data. In the present study, a novel method for co-registration of TLS and ALS data by posterior analysis of remote-sensing data – rather than using dGNSS – was proposed and then tested on 71 plots in a boreal forest. The method relies on an initial position obtained with a recreational-grade GPS receiver, in addition to analysis of the ALS and TLS data. First, individual tree positions were derived from the remote-sensing data. A search algorithm was then used to find the best match for the TLS-derived trees among the ALS-derived trees within a search area, defined relative to the initial position. The accuracy of co-registration was assessed by comparison with an accurately measured reference position. With a search radius of 25 m and using low-density ALS data (0.7 points m^?2), 82% and 51% of the TLS scans were co-registered with positional errors within 1 m and 0.5 m, respectively. By using ALS data of medium density (7.5 points m^?2), 87% and 78% of the scans were co-registered with errors within 1 m and 0.5 m of the reference position, respectively. These results are promising and the method can facilitate rapid acquisition and geo-referencing of field data. Robust methods to identify and handle erroneous matches are, however, required before it is suitable for operational use.     

基于相对轨道根数计算的测绘卫星单点定位研究

传统测绘卫星定位方法无法获取轨道全面信息,且传统方法忽略了多个测绘卫星并行航行情况,导致出现定位误差的问题。因此,提出一种基于相对轨道根数计算的测绘卫星单点定位方法。采用基于J2摄动模型的卫星轨道根数预测方法,预测卫星所在的轨道六根数,以此掌握卫星所在轨道信息;在此基础之上,通过基于相对轨道根数的卫星单点位置预测方法,预测卫星单点位置与卫星的运行速度,实现测绘卫星单点定位。实验结果验证：所提方法在多个测站位置的N、S、E三个方向的平均定位误差最大值为0.05 m。且所提方法预测近地卫星、中高度卫星、地球同步卫星所在轨道根数时,预测误差均方值均低于0.04;定位三种测绘卫星时,定位误差均方值最大值为0.02。数据表明所提方法可准确预测卫星位置信息,可作为测绘卫星定位的有效工具。