Inertial navigation method for moon detector in flexible landing stage

An inertial navigation and detector technology, applied in directions such as navigation through velocity/acceleration measurement, can solve the problems of inability to reduce the initial orbit error and inertial measurement unit measurement error, and achieve the effect of improving the accuracy of autonomous navigation and reducing pressure

Active Publication Date: 2011-04-27
BEIJING INST OF CONTROL ENG
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Problems solved by technology

[0003] The technical problem of the present invention is: to overcome the inadequacy of the prior art inertial navigation method that cannot reduce the initial orbit error and the measurement error of the inertial measurement unit during the lunar soft landing stage, and to provide an inertial navigation method based on distance measurement and speed measurement correction , this method can weaken the influence of these errors on navigation accuracy

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  • Inertial navigation method for moon detector in flexible landing stage
  • Inertial navigation method for moon detector in flexible landing stage
  • Inertial navigation method for moon detector in flexible landing stage

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Embodiment Construction

[0014] The principle of inertial navigation based on distance measurement and speed measurement correction is as follows: figure 1 shown.

[0015] (1) Establish navigation equations. According to the basic navigation equations in the inertial coordinate system, the attitude information of the lunar probe is obtained by the gyroscope, and the inertial navigation orbit is obtained by integrating the initial value of the orbit and the attitude information of the accelerometer. Inertial coordinate system F I The basic navigation equations in

[0016] r ‾ . . = g ‾ + a ‾

[0017] in, r is the vector from the center of the moon to the center of mass of the lander, g is the gravitational acceleration vector, a is the apparent acceleration vector acting on the lander. The accelerometer measures the apparen...

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Abstract

An inertia-navigating method of moon craft at soft landing stage includes setting up moon navigation equation to obtain moon navigation orbit, using speed measurer to obtain speed of craft according to attitude information and using distance measurer to obtain position of craft according attitude information, integrating speed and position of craft with inertia navigation orbit to obtain final navigation orbit data after filter-revision.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation during the soft landing stage of a lunar probe. Background technique [0002] During the soft landing stage of the lunar probe, inertial navigation is a simple and reliable navigation method. The Lunar series of lunar probes of the former Soviet Union, the Surveyor series of lunar probes of the United States and the Apollo series of lunar probes all adopt the method of inertial navigation. The principle of inertial navigation is to integrate the output of the inertial measurement unit based on the binding data of the initial orbit to obtain the position and velocity of the probe. However, during the soft landing process of the lunar probe, there are inevitably errors in the initial track binding data provided by the ground measurement and control system; the gyroscope and accelerometer in the inertial measurement unit also have measurement errors. The existence of these errors affects...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16
Inventor 王大轶关轶峰黄翔宇李铁寿何英姿
Owner BEIJING INST OF CONTROL ENG
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