基于TDS与导航相机的火星软着陆动力下降段导航方案
首发时间:2014-12-15
摘要:为实现火星精确软着陆,在动力下降段,制导系统要求导航系统提供着陆器精确的位置和速度信息。本文首先分析了"好奇号"动力下降段基于下降敏感器的导航方案,以下降敏感器和惯导作为导航敏感器,推导了观测方程,采用扩展卡尔曼滤波算法,通过仿真实验分析了其导航的性能。针对该方案的不足,提出了视觉辅助导航作为改进方案,引入着陆器与地面特征点的视线夹角作为观测量,结合惯导与下降敏感器,可精确估计出着陆器精确的位置和速度信息,提高着陆精度。
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Mars Powered Descent Navigation Based on TDS and Navigation Camera
Abstract:To achieve the Mars pinpoint landing,the navigation system is supposed to provide the accurate state information for the guidance system in the powered descent phase.This paper firstly analyzes the powered descent navigaiton scheme of Curiosity based on the Terminal Descent Sensor. The Terminal Descent Sensor and the Inertial Measurement Unit are taken as the navigation sensors. The observation equation is derived. Using the Extended Kalman Filter, the navigation performance is analyzed through simulation. Focusing on the drawback of the Terminal Descent Sensor based navigation, the vision aided navigation is proposed. The angles among the line of sight between the lander and different land marks are measured by the navigation camera. Combined with the Terminal Descent Sensor, the lander position and velocity can be estimated accurately and the landing accuracy can thus be improved.
Keywords: Mars powered desent phase TDS-based navigation vision-aided navigation
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No.4617047101490014****
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