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在基于视线矢量观测的自主光学导航系统中,观测模型的非线性是影响导航精度的一个重要因素。通过定量计算观测模型的非线性强度,研究了视线测量光学导航系统测量模型的选取问题。文章基于透射投影模型的共线性方程,给出了两种视线矢量观测模型的导航测量方程及测量噪声统计特性。在扩展卡尔曼滤波框架内深入分析了观测模型非线性对导航性能的影响。并利用微分几何非线性曲率测量理论,定量比较了两种观测模型的非线性强度。最后以基于视线矢量观测的姿态确定系统为例,仿真验证了非线性曲率测量与导航性能的一致性,结果表明基于单位矢量观测模型的光学导航系统具有更高的估计精度和更快的收敛特性。
In autonomous optical navigation systems based on line-of-sight vector observations, the nonlinearity of the observed model is an important factor affecting the navigation accuracy. By quantitatively calculating the nonlinear strength of the observed model, the problem of selecting the measurement model of the optical navigation system for sight line measurement is studied. Based on the collinearity equation of transmission projection model, the paper presents two kinds of navigation measurement equations and statistical characteristics of measurement noise. In the framework of extended Kalman filter, the influence of the nonlinearity of the observed model on the navigation performance is deeply analyzed. Using the differential geometry nonlinear curvature measurement theory, the nonlinear intensities of the two observation models are quantitatively compared. Finally, taking the attitude determination system based on the line of sight vector observation as an example, the simulation verifies the consistency of the nonlinear curvature measurement and the navigation performance. The results show that the optical navigation system based on the unit vector observation model has higher estimation accuracy and faster convergence characteristics .