基于无线电测量的火星进入段高精度自主导航
首发时间:2010-11-30
摘要:为了克服火星大气进入段初始状态误差和不确定性因素所带来的不利影响、提高进入段的导航精度,本文提出了一种基于无线电测量的火星进入段高精度自主导航方法。该方法利用惯性测量单元的输出量作为中间相关参数来直接定义探测器的动力学模型,探测器与轨道器/陆地信标之间的无线电测量信息作为导航量测,通过无迹卡尔曼滤波(UKF)算法对陀螺和加速度计的常值漂移进行修正,从而提高进入段的导航精度。数值仿真结果表明该导航算法在存在初始状态不确定的情况下仍然能够提供较高精度的状态估计信息。
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Radiometric Measurement based High-Precision Autonomous Navigation for Mars Entry
Abstract:In order to overcome the adverse effects arising from initial state errors and uncertainties and improve the navigation accuracy of Mars entry phase, an high-precision autonomous navigation method based on radiometric measurement is proposed in this paper. The outputs of the inertial measurement unit (IMU) are considered as intermediate parameters to directly define the dynamic model of entry vehicle, and the radiometric measurement information between entry vehicle and the orbitor/surfae beacons are taken as navigation measurement, then, unscented Kalman Filter (UKF) is adopted to correct the constant drifts of gyroscope and accelerometer and improve the navigation accuracy of Mars entry. Numerical simulation results show that the navigation algorithm will still be able to provide high-precision state estimation in the presence of the initial state of uncertainty.
Keywords: Radiometric measurement Autonomous navigation Mars entry unscented Kalman Filter
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