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现在通用的X射线脉冲星导航的3维观测方程,是以3颗脉冲星发射的脉冲到达航天器和太阳系质心的时间偏差为观测量建立起来的.在实际测量过程中,这个观测量是通过比较航天器探测到的脉冲观测轮廓与相应脉冲星的标准轮廓得到的,而在累积观测轮廓的同时也得到了观测轮廓的周期,因此根据Doppler速度测量方程,就能够确定航天器的速度矢量.本文首先导出Doppler速度测量方程,提出在观测轮廓的积累过程中考虑航天器的速度和加速度,得到的观测轮廓的周期不同于标准轮廓.这样,将探测3颗脉冲星得到的观测轮廓与相应的标准轮廓进行比较时,可以同时获得脉冲到达航天器和太阳系质心的时间偏差和频率漂移6个观测量,从而确定航天器的3维位置和3维速度.由于信息量增加一倍,6维观测方程比现行观测方程更为精确和完整.
Now the general three-dimensional observation equation for X-ray pulsar navigation is based on the observation that the time deviations of the pulses emitted by the three pulsars arriving at the spacecraft and the centroid of the solar system are established for the observation. During the actual measurement, this observation is made by By comparing the observed profile of the spacecraft with the standard profile of the corresponding pulsar, the cycle of the observed profile is obtained while accumulating the observed profile, so that the spacecraft’s velocity vector can be determined based on the Doppler velocity measurement equation. In this paper, we first derive the Doppler velocity measurement equation, and propose that considering the spacecraft’s velocity and acceleration during the observation profile accumulation, the observed profile has a period different from that of the standard profile. In this way, the observation profile obtained by detecting three pulsars corresponds to the corresponding When comparing the standard profiles, we can simultaneously obtain six observations of the time deviation and frequency drift of the pulse reaching the centroid of the spacecraft and the solar system to determine the 3-dimensional position and the 3-dimensional velocity of the spacecraft. Since the amount of information is doubled, the 6-dimensional observation The equation is more accurate and complete than the current observation equation.