178results about How to "Realize autonomous navigation" patented technology

The invention belongs to the technical field of robot navigation and relates to a service robot autonomous navigation method based on raster maps. According to the method, the information of the environment where a robot is located is acquired in real time through 2D laser radar, environment feature extraction is conducted, raster map establishment is conducted according to the acquired information by means of the SLAM technique, autonomous positioning is conducted on the robot in real time at the same time, path planning is conducted on the robot according to navigation task requirements on this basis, and then tracking control is conducted according to the planned path to enable the robot to accomplish the navigation task. Compared with the prior art, the method has the advantages that three key techniques in navigation are improved so that the method can meet actual requirements of service robot navigation better, and then the optimal feasible scheme is obtained; environment information is processed in real time to generate dynamic maps, and then autonomous navigation is achieved effectively, and navigation accuracy and efficiency are improved greatly.

The invention provides a robot navigation method and device based on multi-sensor data fusion. The method comprises the following steps: establishing a map of a total environment according to data acquired by a laser radar sensor and data of an encoder; acquiring the current position of a robot in the map of the total environment in real time according to data acquired by a laser radar sensor, an accelerometer sensor, a gyroscope sensor and a magnetometer sensor, the map of the total environment and the data of the encoder; acquiring a planned route of the robot from the current position to a targeted position in real time according to the map of the total environment and the current position of the robot; and controlling the robot to keep away from barriers during movement by the data which are acquired by the laser radar sensor, a deep camera, an ultrasonic sensor and an infrared sensor and the data of the encoder. On the basis of reasonable utilization of the sensors to realize navigation of the robot, the method is flexibly applied to various scenes, costs are considered, and the autonomous navigation effect can be achieved.

The invention relates to an underwater vehicle navigation system, in particular to an autonomous underwater vehicle combined navigation system. The system comprises an inertia basis navigation device and an external sensor navigation device, wherein the inertia basis navigation device comprises a Doppler velocimeter, an optical fiber gyro, a pressure sensor, an electronic compass and a depthometer; and the external sensor navigation device comprises a sonar. The combined navigation system also comprises an underwater structure optical sensor and an underwater binocular vision platform, wherein the underwater structural optical sensor comprises a forward-vision structure optical sensor positioned on the front of an outer frame of an autonomous underwater vehicle, and a downward-vision structure optical sensor positioned at the bottom of the outer frame; the underwater binocular vision platform comprises a forward-vision binocular vision platform positioned on the front of the outer frame, and a downward-vision binocular vision platform positioned at the bottom of the outer frame; the forward-vision structure optical sensor and the forward-vision binocular vision platform form a forward-vision structure optical and visual system module positioned on the front of the outer frame; and the downward-vision structure optical sensor and the downward-vision binocular vision platform form a downward-vision structure optical and visual system module positioned at the bottom of the outer frame.

The invention discloses a non-baffle-board laser AGV and relates to the technical field of transportation equipment. The non-baffle-board laser AGV can achieve positioning and obstacle avoidance without baffle boards and comprises a laser scanner, a vehicle body, an upper computer system, a lower computer system, an actuator and an input-output device, wherein the laser scanner is electrically connected with the upper computer system, the upper computer system is electrically connected with the lower computer system, the input-output device is connected with the lower computer system, and the actuator is rotatably connected to the lower portion of the vehicle body and is used for driving the non-baffle-board laser AGV to run.

The invention discloses a 3D obstacle avoidance indoor robot navigation method and system. The method comprises acquiring a 3D model, an initial position and a final position of a robot, acquiring a global 3D map, carrying out global route planning to produce a series of global path points, carrying out 3D obstacle collision detection on each one of the global path points to obtain the optimal global route plan, making the robot travel according to the optimal global route plan, carrying out 3D obstacle collision detection in the next global path point in travelling, if the robot produces impact, carrying out global route planning through a real-time 3D map as the global 3D map and a real-time position as an initial position, and if the robot does not produce impact, making the robot travel to the final position so that robot autonomous navigation and 3D obstacle avoidance are realized. The method and system can successfully acquire the feasible robot path in the crowded indoor environment, and completes the autonomous navigation and the 3D obstacle avoidance task of the robot from the initial position to the final position.

The invention provides a celestial autonomous navigation method based on star sensors, which comprises the following steps: calculating attitude information based on a geocentric inertial coordinate system, which is output by a star sensor; calculating the optical axis direction based on the geocentric inertial coordinate system; converting the optical axis direction based on the geocentric inertial coordinate system into optical axis direction based on a WGS84 coordinate system; reading the included angles alpha 0 and beta 0 between the X and Y directions of the star sensor and the horizontal direction from a laser level meter; calculating the direction in the WGS84 coordinate system when the optical axis direction is perpendicular to the horizontal level; calculating the longitude alpha and latitude beta of the underground point S of the carrier; and outputting the attitude q and the longitude alpha and latitude beta of the underground point of the carrier in the geocentric inertial coordinate system. The invention avoids measurement and control errors caused by horizontal reference platforms, enhances the measuring accuracy, and simultaneously outputs the attitude of three axes and the longitude and latitude of the carrier in the geographic coordinate system in real time, thereby completely realizing celestial autonomous navigation.

The technical scheme of the invention provides an SLAM positioning and navigation method and system based on multi-sensor fusion. According to the invention, in combination with the information of a depth camera, a laser radar and an omnidirectional wheel odometer, an obstacle point cloud, a two-dimensional grid map and a dense point cloud are output for navigation; and by improving a fusion method of a Bayesian data algorithm, a navigation algorithm based on A* and DWA and an exception handling method are designed, and real-time performance is achieved. According to the invention, the Bayesian method is improved, the information of the depth camera, the laser radar and the omnidirectional wheel odometer is fused, and the purposes of multi-sensor assisted automatic positioning, global two-dimensional grid map construction and autonomous navigation of the mobile robot with the obstacle avoidance capacity are achieved.

The invention provides a robot autonomous navigation method and system based on a vision positioning algorithm. The method includes: acquiring the map information of an area where a robot is located and the initial position information and target position information of the robot, acquiring the accumulated position information of the robot during the walking of the robot, and correcting the accumulated position information of the robot to obtain the current position information of the robot; acquiring the surrounding obstacle information of the robot during the walking of the robot, performing path planning according to the surrounding obstacle information and all initial walking paths to obtain the global walking path of the robot, acquiring the surrounding obstacle information during the walking of the robot, calculating to obtain the walking direction and speed of the robot, allowing the robot to walk, and matching the current position information with the target position information to realize the autonomous navigation of the robot. The method has the advantages that the surrounding obstacle information of the robot is combined with the position information of the robot to provide a reasonable walking path for the robot, and a precise navigation effect is obtained.

The invention provides a positioning and navigation method of a robot based on inertial navigation and a two-dimensional code. The method comprises the following steps: a robot starts from an initial position and moves to a target position; in the motion process, a robot inertial measurement device continuously measures course angle and speed of the robot, and calculates motion track of the robot and corrects the driving direction of the robot; the robot scans a two-dimensional code picture on the ground, reads position information in the two-dimensional code and determines the current position of the robot; according to the inertial measurement device and two-dimensional code information, the track path of the robot is corrected and the moving path of the robot is determined; and the robot reaches the target position. The method realizes a function of determining the position and course of the robot through inertial navigation and the two-dimensional code, thereby reducing position error and enabling the robot to reach the target position quickly.

The invention discloses an autonomous navigation unmanned aerial vehicle system which comprises an aircraft platform which is a four-rotor aircraft; a sensor subsystem which comprises an inertia measurement unit installed inside the four-rotor aircraft, a micro camera installed at the bottom of the four-rotor aircraft, an ultrasonic sensor installed at the bottom of the four-rotor aircraft and a laser scanning radar installed at the top of the four-rotor aircraft; an automatic driving instrument which is in communication with the GPS positioning module and the sensor subsystem through a wireless network; a remote controller which is in communication connection with the four-rotor aircraft through the wireless network; a ground monitoring station which is in communication with the automaticdriving instrument through the wireless network. The invention further provides a navigation method of the autonomous navigation unmanned aerial vehicle system. The invention has the beneficial effects that the positioning and navigating are allowed when entering an indoor environment, obstacle avoidance capability is achieved, an optimal route to a target point can be automatically judged, autonomous navigation is realized, and multiple operation modes are provided. The autonomous navigation unmanned aerial vehicle system is convenient, practical, flexible and variable.

The invention relates to an apparatus using GPS techniques of the global position satellite system and a carrier phase location method thereof, in particular to a hardware and software design techniques based on navigational satellite signal of the global position satellite system; the invention is applied in a pseudosateilite indoor position system with sub-decimeter level mainly of the situations in which GPS satellite signal of the global position satellite system cannot be received indoors, as well as a carrier phase location method thereof. The system at least comprises a personal computer of a master control station and a consultation receiver, etc, and the indoor position system that is integrated by all apparatuses. The method is realized by the way of carrier phase location, and mainly resolves the related technological problems of the hardware and software implementation of pseudosateilite and the layout of indoor pseudosateilite, etc. The invention has the advantages that the system and the method can achieve autonomous navigation in a closed region, which are suitable for the situations in which ethereal GPS satellite signal cannot be received indoors but the location result with higher precision is required and so on, and has the advantages of convenient use, simple and effective control, etc.

The invention discloses a robot path planning method adopting multi-subgroup coevolution particle swarm optimization to perform real-time rolling optimization obstacle avoidance processing, which can enable a robot to realize autonomous navigation in a working condition with stationary obstacles at unknown positions. The method has the following advantages: the method can realize autonomous navigation of the robot in a working condition with stationary obstacle at unknown position; the method introduces group mass center strategy to the multi-subgroup coevolution, so as to increase the search capacity of the population; compared with a conventional path planning method which adopts PSO (Particle Swarm Optimization) and CPSO (Coevolution Particle Swarm Optimization), the method provided by the invention adopts survival of the fittest strategy, thereby being more advantageous in respect to rate and accuracy of evolution convergence; the method provided by the invention can real-timely plan an effective obstacle avoidance path in a complex obstacle environment, and has the advantages of good robustness, high solving efficiency, and the like.

The invention discloses an unmanned aerial vehicle autonomous navigation system and method based on image processing and radar. The system comprises an unmanned aerial vehicle platform and a ground station system, wherein a GPS satellite positioning module, an image processing module, a radar system module and a hybrid control module are arranged on the unmanned aerial vehicle platform; the hybrid control module is connected with the GPS satellite positioning module, the image processing module, the radar system module, an unmanned aerial vehicle flight controller and a communication module; the image processing module comprises a high-speed camera, a camera holder unit and an image processing unit; the radar system module comprises a microwave and millimeter wave radar unit and a signal processing unit; the hybrid control module comprises an unmanned aerial vehicle high-speed embedded-type processing unit. According to the method, a sensor group, the image processing module and the radar system module periodically acquire effective information, and feed back the acquired effective information to the hybrid control module for classified processing, so that autonomous navigation of an unmanned aerial vehicle can be achieved. The system provided by the invention is advanced and high in expansibility; through adoption of the system, the autonomous navigation effect of an automated unmanned aerial vehicle can be very good.

The invention discloses an electric driven biomimetic four-leg robot with the environment sensing ability and a control method. A head is hinged to a front body through a neck and a head connecting rod, the head is linked with the neck, and the front body is hinged to a back body; a tail is arranged at the back part of the back body, and is also hinged to the front body through a tail connecting rod; front legs are respectively arranged on the two sides of the front body; back legs are respectively arranged on the two sides of the back body; the length of the back legs are larger than that of the front legs; the widest part of the front body is wider than the widest part of the back body; the electric driven biomimetic four-leg robot further comprises an environment sensing sensor group and a camera; the environment sensing sensor group and the camera are connected with a central processing unit; the output end of the central processing unit is connected with an electric driven execution system; a power management module supplies power for the environment sensing sensor group, the central processing unit and the electric driven execution system. Through the adoption of the electric driven control mode, the biomimetic four-leg robot can realize dynamic sensing, autonomous navigation and real-time following on environment, and can adapt to biomimetic gait motion planning with topographical changes and random disturbance.

The invention provides a composite navigation system for an intelligent patrol unmanned aerial vehicle. The composite navigation system comprises a visual sensor, a laser distance measuring sensor, aGPS / BDS (global positioning system / Beidou system) two-mode receiver, an inertia measuring unit, a light flow sensor, a SLAM (simultaneous localization and map building) operation module, a position attitude estimating module and an expansion Kalman filter. The composite navigation system has the advantages that the data of different sensors is obtained according to the different environments of the unmanned aerial vehicle; after integrating by the expansion Kalman filter, the complete three-dimensional position attitude information of the unmanned aerial vehicle is outputted, so as to ensure the navigation precision; the reliability and autonomy of the navigation system are improved, and the composite navigation system is suitable for realizing the autonomous navigation of the unmanned aerial vehicle in unknown and complicated environments.

The invention discloses a vision navigating method for a movement carrier based on the laser plane assistance. The method comprises the following steps: building a distance measurement and environment system, determining the position of a rectangular bright spot to be detected in an image, determining the center coordinate of the rectangular bright spot, obtaining a geometric distance measurement model, correcting the distance measurement model, segmenting the visual image, determining a local vectorization environmental space with distance information, positioning the position of the carrier per se, and building a global environmental space. Through the adoption of the method different from the traditional movement carrier autonomous navigation middle distance obtaining method, a laser plane is introduced as an auxiliary means, a single or a plurality of vision sensors are combined, the threadlike bright spot formed by the reflection of the laser plane on an object to be irradiated is fully utilized and taken as an cooperated distance measurement target, and the geometric relationship between the vision sensor and a laser light source is effectively utilized, so that the requirements for the precision, yield ratio and real-time performance of the distance calculating can be met. Therefore, the method is a reliable navigation method, and can be applied to a movement carrier autonomous navigation system.

The invention discloses an autonomous navigation and automatic charging method for a service robot in a bank hall environment. The method comprises particular steps: when a robot needs to be deployed in a new bank hall, the robot is firstly remotely controlled to scan each area of the hall, a map is built, and task points are set according to business handling demands; in use, a navigation system guides the robot to a target point according to self positioning and a target task point position obtained through analysis by a bank business handling system. When the battery voltage of the robot is low, the navigation system firstly guides the robot near a charging pile, the robot is guided to be docked with the charging pile through a recognition marker, LED lamps at two sides of the marker are used as conditions for enabling the robot to stop moving, and automatic charging navigation is realized.

The invention discloses an all-time structured road multi-lane detection method, comprising: mounting a camera at the front upper side of driver and near internal rearview mirror, while the direction of the camera is forward and has an angle to the horizontal axis; obtaining the colorful image of front road surface via the camera; preprocessing the colorful image; detecting lanes; according to the detected lanes, automatically navigating the automobile or alarming for the automobile deviated from normal driving track. The invention grays image and extracts obvious edge features in the image via heuristic method, to output the images at night and day via binary type. The invention can satisfy the requirement of highway automobile navigation at the point of real-time property, can complete detection under the illumination at night and day at the point of robustness, and has high adaptability for the roads with degenerated marks and serious interface.

The invention relates to an unmanned aerial vehicle (UAV) autonomous navigation method and system capable of being applied to a large-scale unfamiliar complex environment. The method includes the steps of obtaining the state of a UAV by using sensing equipment and positioning equipment of the UAV; then determining a control vector of the UAV; determining a revenue function according to the state of the UAV and the environment in which the UAV is located; performing deep enhanced learning based on the revenue function to train a control function from the UAV state mapping to control; and by using the control function through training, generating a corresponding control instruction according to the state of the UAV and controlling the autonomous navigation of the UAV in a large-scale unknown complex scene. According to the invention, a navigation task can be independently accomplished only by using the perception information and position information of the UAV on the surrounding environment and the adaptive control of the UAV in a large-scale unknown complex environment is realized.

The invention discloses an inspection robot for an underground coal mine. The inspection robot comprises a lower car body and an upper car body, wherein a four-wheel driving module is matched and arranged on the left and right sides of the lower car body, the four-wheel driving module comprises four wheels, a driving motor and a built-in power supply, and both the driving motor and the built-in power supply are installed in the lower car body. According to the inspection robot, a navigation module is arranged, and a laser radar is constructed, so that an underground environment is scanned, anda three-dimensional image is obtained; then a map is independently constructed by virtue of an LNM module board, and a walking route is independently planned, so that railless autonomous navigation is realized; images are collected in real time by a visible light camera and an infrared thermal imager, and if fog is generated on a lens of the visible light camera, a windscreen wiper independentlyslides, so that the clear images are collected; and if the navigation module fails, manual operation can be switched at a remote monitoring station by virtue of a WIFI control module, and a guaranteeis provided for the use of the whole robot.

The invention relates to an autonomous navigation system and method of an unmanned aerial vehicle based on an electric field equipotential surface of a super-high voltage line area. The navigation system comprises an unmanned aerial vehicle body, an electromagnetic field measuring module, a flight control subsystem and an inertial navigation subsystem. When the system works, the unmanned aerial vehicle flies to the original position, and the electromagnetic field measuring module acquires an initial electric field value; the inertial navigation subsystem plans the flight path of the unmanned aerial vehicle according to the contour value diagram of the electric field distribution; during the flying process, the electromagnetic field measuring module acquires the electric field value of thecurrent position; the airborne processing module in the flight control subsystem judges the difference between the set fluctuation threshold value and the initial electric field value according to theflight condition, and sends an instruction to the flight control module to adjust the flying height and the direction of the unmanned aerial vehicle; based on the flight path, the unmanned aerial vehicle flies in depth along a contour of a certain equipotential surface. The system solves the problem of runaway of the unmanned aerial vehicle caused by the strong electromagnetic field, and has theadvantages of autonomous navigation under the environment of super-high voltage transmission lines, stable navigation, accurate navigation and the like.

The invention provides a spectrum red shift antimonous navigation method for spacecraft. The method includes: directly using solar celestial bodies as light emitters in the solar system; allowing a spacecraft to receive spectral information by spacecraft-carrying spectrum red shift measurement sensors; acquiring speed parameter of the spacecraft according to spectrum red shift measured parameters and spacecraft attitude information measured by spacecraft starlight sensors; and acquiring location parameters of the spacecraft by integration. The principle of the method is simple, the method is novel and is new breakthrough in spacecraft autonomous navigation methods, the means of spacecraft navigation is expanded, navigation capacity is increased, and true autonomous spacecraft navigation is realized. The method is directly applicable to autonomous navigation tasks for deep space exploration in China, has promising application prospect in the field of deep space exploration, and provides references for antimonous navigation in near-earth spacecraft.

The invention provides an autonomous navigation system for an on-orbit aircraft. The autonomous navigation system is composed of a strapdown inertial measurement unit, a satellite receiver, a large-view-field star sensor, an ultraviolet sensor and a computer and is an inertia, satellite, starlight, ultraviolet and computer system for short); when the aircraft is located at middle and low earth orbits, an inertia, satellite and starlight combined navigation system is adopted and the ultraviolet is a backup device for positioning and determining postures; when the aircraft is located at a high earth orbit, an inertia, ultraviolet and starlight combined navigation system is adopted so that the problem of an existing satellite receiver that the positioning accuracy at the high orbit becomes bad or the positioning can not be realized is solved. The autonomous navigation system is independent of a ground measurement and control station and the long-time on-orbit autonomous navigation requirements of a spacecraft performing a multi-star deploying task are met, so that the high-accuracy autonomous navigation of the aircraft at the lower and middle earth orbits is realized. The technology can be applied to the autonomous navigation aspect of on-orbit services and multi-star deployments of the spacecraft.

This is the manual-free automatic service center style auto network anti-theft anti-robbery monitoring alarm and satellite positioning system. It based on GSM / GPRS / CDMA / 3G and other mobile communication network, telecom network, Internet network, GPS, GIS, data-character switch processing, character and voice switch processing, data storage and connection processing and so on. It builds the complete network manual-free automatic service center. The system vehicle-carrying host in this invention can compliant with any existing vehicle-carrying burglar alarm, and can real-time view / send various information of vehicle by any communication network remotely. It can also use the intelligent voice platform of this system send words, voice, image, picture and other system information and attached added value service information to various communication terminal of system user.

The invention discloses a tour guiding and explaining service robot system and a tour guiding and explaining method thereof. The system comprises a robot body, a demonstration module, a task edition module, a tour guiding module, a monitoring module and a positioning and pose correcting module, wherein the robot body is used for directly interacting with a person to fulfill a tour guiding task; the demonstration module is used for fulfilling collection of key positions on a tour guiding route; the task edition module is used for compiling a script file in robot script language according to the tour guiding task to describe the tour guiding task; and the tour guiding module is used for analyzing and actuating the tour guiding task to fulfill the appointed task. The system provided by the invention allows a person only having computer operation knowledge to require a robot to perform demonstration and task edition according to the tour guiding task requirements and control the robot to fulfill the tour guiding task. Meanwhile, the system provides a simple and convenient way for a user to self-define the tour guiding function of the robot, thereby reducing the development difficulty of tour guiding service robots and the using difficulty of the user and further prompting the popularization of service robots in social life.

The invention discloses a robot navigation method, comprising robot imitation learning and autonomous navigation steps. The robot imitation learning step comprises: recording each frame video image obtained by a camera and corresponding control commands; extracting a visual feature vector corresponding to each frame video image; employing the visual feature vectors and control commands as a training data set of a classifier; and calculating an optimal vector of the classifier. The robot autonomous navigation step comprises: extracting the visual feature vector of each frame video image; and the classifier calculating and outputting the control commands according to the visual feature vectors of the video images and the optimal vectors to realize autonomous navigation. The method does not need to establish complex environment models or robot motion control models; robot detection to environments mainly depends on visual feature information, and is suitable for indoor navigation and outdoor navigation; the method can be applied to mobile robots, humanoid robots, mechanical arms, unmanned aerial vehicles, etc.

The invention discloses an intelligent aerial photographing system. The intelligent aerial photographing system is characterized by comprising an aerial photographing image collecting device and an aerial photographing image processing device; the aerial photographing image collecting device comprises an aerial photographing aircraft and a camera device; the aerial photographing processing device comprises a primary processing device on the aircraft and an advanced processing device on the ground; an unmanned aerial vehicle is adopted as the aerial photographing aircraft and comprises an air flying subsystem and a ground control subsystem; the camera device comprises a high-definition camera installed on the lower portion of an unmanned aerial vehicle body. The invention further discloses a method for carrying out primary processing on images with the primary processing device and a method for carrying out advanced processing on images with the advanced processing device. The aerial photographing system comprises the unmanned aerial vehicle which is capable of achieving automatic flying continuation and automatic control; meanwhile, high-definition images are automatically collected and processed multiple times, and complete and clear images can be obtained.

The invention discloses a wheelchair robot and an indoor autonomous navigation method thereof. The method comprises the following steps: sensing the environmental information through a monocular vision sensor, and constructing a three-dimensional point cloud map for the obtained environmental features by use of a vision SLAM algorithm; performing storage, perfection and rasterization treatment onthe formed point cloud map; loading the treated raster map, and performing self-localization of a moving wheelchair robot by the Monte-Carlo algorithm; finally, while performing continuous localization, finishing global path planning and local dynamic path planning by the wheelchair robot in the navigation process by combining the ant colony algorithm and the dynamic raster algorithm. The method disclosed by the invention can realize autonomous navigation of a wheelchair.

The invention relates to an angle measurement / differential velocity measurement / differential distance measurement combined navigation method of a deep space probe. The method comprises the following steps: establishing a state model of a spacecraft according to orbital dynamics, adopting an angle measurement sensor to obtain a starlight angle distance measured value, adopting an X-ray pulsar probe to obtain a pulse arrival time measured value, adopting a spectrograph to obtain an astronomical Doppler velocity measured value, and then respectively establishing a starlight angle distance measured model, a differential pulse arrival time measured model and a differential astronomical Doppler velocity measured model according to the measured values. The position and the velocity of the spacecraft are estimated through UKF filter after discretization. The method belongs to the field of autonomous navigation of the spacecraft, is high in estimated accuracy, and has important practical significance for the autonomous navigation of the spacecraft.

The invention provides an autonomous spacecraft navigation system with combination of astronomical angle measurement and speed measurement, and a navigation method of the autonomous spacecraft navigation system. The navigation system comprises an astronomical speed measurement navigation subsystem, an astronomical angle measurement navigation subsystem and a main filter, wherein the astronomical speed measurement navigation subsystem is connected with the main filter and is used for observing a navigation celestial body, obtaining a spectral frequency shift measurement value of the navigation celestial body and calculating a navigation parameter of the spacecraft under an inertial coordinate system; the astronomical angle measurement navigation subsystem is connected with the main filter and is used for observing the navigation celestial body, obtaining a direction unit vector of the navigation celestial body and calculating the navigation parameter of the spacecraft under the inertial coordinate system; the main filter is connected with the astronomical speed measurement navigation subsystem and the astronomical angle measurement navigation subsystem and is used for obtaining a global optimal estimation value according to the output of the astronomical speed measurement navigation subsystem and the astronomical angle measurement navigation subsystem. By virtue of the autonomous spacecraft navigation system, sight direction angle information and astronomical spectral information of the celestial body are taken as observation quantities; the navigation information is fused by a federated filter manner; the autonomous navigation of the spacecraft in the flight process is achieved; and the high-accuracy estimation of the navigation parameter is achieved.