航空学报2026，Vol.47Issue(9)：101-122,22.DOI:10.7527/S1000-6893.2025.32339
GNSS拒止下神经网络辅助的航天器集群协同导航
Neural network-assisted cooperative navigation of spacecraft clusters under GNSS denials
摘要
Abstract
To address the problems of navigation dispersion in the Global Navigation Satellite System(GNSS)short-term denial scenario during the on-orbit autonomous navigation of spacecraft clusters,we introduce a Data-Link-based(DL)relative ranging system and a neural network auxiliary module to improve the navigation effect under GNSS de-nial.Considering the different sampling frequencies of INS,GNSS,and DL systems,this paper constructs the Factor Graph(FG)architecture,which has the feature of plug-and-play,and adopts the belief propagation rules to dynami-cally fuse the multi-source measurement information of INS/GNSS/DL,enabling spacecraft cooperative positioning.To avoid the error amplification when solving the ranging information of the data links,a relative ranging information solv-ing method based on the rotation matrix is designed.A composite fault diagnosis mechanism based on the inertial inte-gral state and the historical measurement residuals is designed,which together with the plug-and-play characteristics of the FG,enables detection and isolation of the GNSS faults and DL faults.Moreover,for the GNSS denial case,an auxiliary system combining General Regression Neural Network(GRNN)and Elman Neural Network(ENN)is de-signed to fit the potential relationship between GNSS and INS navigation data at historical moments and provide an on-line prediction and compensation of missed GNSS navigation data.The predicted GNSS data are further fused with the INS/DL data to obtain the combined navigation results under the GNSS denial case.The simulation results show that the introduction of datalink-based relative ranging information and the GRNN-ENN neural network-assisted system can effectively mitigate the navigation divergence in the GNSS denial case.关键词
航天器协同定位/组合导航/因子图/Elman神经网络/置信传播Key words
multi-spacecraft cooperative navigation/combined navigation/factor graph/Elman neural network/belief propagation分类
航空航天引用本文复制引用
刘明,吴姣..GNSS拒止下神经网络辅助的航天器集群协同导航[J].航空学报,2026,47(9):101-122,22.基金项目
国家自然科学基金基础科学中心项目(62188101) （62188101）
国家重点研发计划(2024YFF0504702) （2024YFF0504702）
国家自然科学基金(62273116) （62273116）
思源人工智能科学与技术协同创新联盟基金(HTKJ2023SY502003) Science Center Program of National Natural Science Foundation of China(62188101) （HTKJ2023SY502003）
National Key Research and Development Program of China(2024YFF0504702) （2024YFF0504702）
National Natural Science Foundation of China(62273116) （62273116）
SiYuan Collaborative Innovation Alliance of Artificial Intelligence Science and Technology(HTKJ2023SY502003) （HTKJ2023SY502003）
