摘要
针对火星捕获段高精度实时自主导航的需求,提出一种以火星及太阳为导航目标源的天文光学图像测角和天文光谱测速的组合自主导航滤波方法。针对天文组合导航系统中测量信息包含时间相关测量噪声的问题,首先分析时间相关噪声对状态估计过程的影响,然后建立考虑时间相关噪声的状态方程和量测方程,并分析和推导了改进的卡尔曼滤波器方程。仿真结果显示,同传统方法相比,所提出的滤波方法可将导航精度提高一个数量级,对火星探测器捕获段实时高精度自主导航具有一定的参考意义。
To satisfy the requirement of high-precision real-time autonomous navigation during approaching Mars, an autonomous navigation method based on the combination of astronomical optical image measurement and astronomical spectral velocity measurement is proposed. A novel Kalman filter is proposed to solve the estimation problem in the case that the measurement noise and system noise are tim e correlated during approaching Mars. The effect of time correlated noise is analyzed, the state equations and measurement equations are constructed, and an improved Kalman filter equation is analyzed and deduced. Simulation results show that, compared with the traditional Kalman filter, the proposed method can improve the navigation accuracy by one order of magnitude, and has important reference value for the real-time high-precision autonomous navigation technology of the Mars exploration mission.
作者
陈晓
孙兆伟
刘明
黄庆龙
CHEN Xiao;SUN Zhaowei;LIU Ming;HUANG Qinglong(Harbin Institute of Technology,Harbin 150001,China;Shanghai Institute of Satellite Engineering,Shanghai 201109,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2019年第6期778-781,792,共5页
Journal of Chinese Inertial Technology
基金
国家重点基础研究发展计划(2014CB744200)
关键词
火星探测
自主导航
测角测速
时间相关噪声
改进卡尔曼滤波
mars exploration
autonomous navigation
angle and velocity measurement
time correlated noises
modified Kalman filter
