针对嫦娥5 T1再入返回飞行试验任务中的服务舱、返回器分离监视问题，研究了利用服务舱分离监视相机图像进行舱器距离判断的方法。首先根据舱器分离点预报得到标称轨道；其次构建了观测模型并阐述了导航系统的滤波算法；然后对分离监视相机图像进行二值化处理和边缘提取，得到返回器的像元像素信息；最后利用扩展卡尔曼滤波算法对返回器相对位置、速度进行实时解算。舱器分离的可靠监视对判断分离，返回器安全预警，乃至及早发现故障辅助飞控决策具有重要的意义，其基本原理和流程也可作为星上自主光学导航的参考。%The feasibility and strategy of optical navigation technique in monitoring the module sepa⁃ration in the Chang′E⁃5T1 reentry mission was studied. Firstly, the mission was briefly introduced including the trajectory design and flight procedure. Then, the observation model was developed and the filtering algorithm was investigated. Next, the images of the monitoring camera were processed into binary images and the edges were detected using the canny method, from which the observation data was further acquired. In the end, the relative position and velocity were solved using the ex⁃tended Kalman filter and compared with the designed indexes. It is proved that the navigation meth⁃od is effective for this mission and may benefit to the deep space exploration.
展开▼
