摘要
本文考虑"天问"1号火星探测接近段导航,提出了基于数据融合的探测器接近段器地组合导航方法.该方法在探测器接近段以地面测量和探测器上搭载的光学相机对火星拍照测量作为观测数据,通过地面滤波作为子滤波器处理地面数据,并考虑通信延时进行数据上传,从而与探测器光学测量数据进行数据融合滤波,得到探测器的位置速度估计.本文首先考虑了探测器所用接近段模型的精度与计算效率问题,对轨道积分精度和计算时间进行了仿真分析,其次给出了地面测量和探测器光学测量所用模型并对测量手段的可见性进行了检验.本文给出了基于扩展卡尔曼滤波(EKF)和无迹卡尔曼滤波(UKF)进行导航滤波的算法,并给出了两种滤波算法下地面数据的上传处理和探测器接收数据后的简单融合策略.在接近段位置先验精度为100 km,速度先验精度为0.1 m/s的条件下,分别对地面测量的滤波导航、探测器光学测量自主导航和器地组合导航进行了仿真验证,结果显示,器地组合导航方法具有更快的收敛速度和更高的末端精度,可满足探测器制动捕获的高精度导航要求.
Considering the navigation for the approach phase of the Chinese Mars probe TIANWEN-1,we present an integrated navigation method based on the data fusion of the ground measurement and optical observation.This method combines the measurements of space and control stations on Earth and the optical observation of the camera carried by the probe.Taking an on-the-ground filter as a subfilter to deal with the data of ground measurement and uploading the results with communication delay considered,we proposed a data fusion method for the uploaded results and optical data.First,a dynamic model for the approach phase of the Mars probe is introduced,and the computational accuracy and efficiency of the orbital integration are analyzed.The measurement models are then subjected to visibility analysis.Second,the algorithms of extended Kalman filter and unscented Kalman filter are formulated for data uploading and fusion.Finally,a simulation is performed under the prior position estimation as 100 km and Priori velocity estimation as 0.1 m/s.Results show that the integrated navigation method has better convergence speed and navigation accuracy.
作者
武迪
闫翛然
李海洋
蒋方华
WU Di;YAN XiaoRan;LI HaiYang;JIANG FangHua(School of Aerospace Engineering,Tsinghua University,Beijing 100084,China)
出处
《中国科学：技术科学》
EI
CSCD
北大核心
2020年第9期1150-1159,共10页
Scientia Sinica(Technologica)
基金
国家自然科学基金(批准号:11672146)资助项目。
