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Method for designing Mars entry phase autonomous navigation scheme based on observability degree analysis

A Mars entry and autonomous navigation technology, applied in the field of deep space exploration, can solve the problems of relying on the accuracy of the Mars atmospheric model and limited observation information

Inactive Publication Date: 2013-05-01
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

Aiming at the nonlinear dynamic system of the Mars entry stage, the Mars atmospheric density index model is introduced, and the IMU output is used as the external observation quantity at the same time, and the filter algorithm is used to estimate the state of the detector, but the observation information is still very limited and heavily depends on the Martian atmosphere the accuracy of the model

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  • Method for designing Mars entry phase autonomous navigation scheme based on observability degree analysis
  • Method for designing Mars entry phase autonomous navigation scheme based on observability degree analysis
  • Method for designing Mars entry phase autonomous navigation scheme based on observability degree analysis

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Embodiment Construction

[0070] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0071] This example is aimed at the autonomous navigation scheme design based on radio measurement in the Martian atmosphere entry section, considering the radio ranging information between the probe and three fixed radio beacons on the surface of Mars, and optimizing the geometric configuration of the radio beacons to make the navigation system Maximum observability. The concrete implementation method of the present invention is as follows:

[0072] Step 1: Establish a dynamic model of Mars atmospheric entry.

[0073] Establish a 6-degree-of-freedom dynamic equation in the Mars inertial coordinate system, considering aerodynamic force, gravity and the Coriolis force due to the rotation of Mars, the 6-dimensional state vector x of the probe = [r, θ, φ, V, γ, ψ ] T , where r is the distance from the center of mass of Mars to the probe, V is the speed ...

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Abstract

The invention relates to a method for designing a Mars entry phase autonomous navigation scheme based on observability degree analysis, belongs to the technical field of deep space exploration, and particularly aims to optimize the geometric configuration of a navigation beacon so as to realize the design of the Mars entry phase autonomous navigation scheme and ensure the optimal navigation property by utilizing observability degree of a navigation system to represent the property of the navigation system and by combining the Mars entry phase autonomous navigation scheme based on radio measurement. According to the method provided by the invention, the observability matrix is calculated through a linearization method, the calculation amount is small, and the calculation speed is high; the observability degree of the navigation system is defined by inverse of the condition number of the observability matrix, and a quantitative gauge is provided for observability of the navigation system; and the observability degree of the navigation system can be maximized, so that the property of the navigation system can be further improved.

Description

technical field [0001] The invention relates to a design method of an autonomous navigation scheme for Mars entry section based on observability analysis, and belongs to the technical field of deep space exploration. Background technique [0002] With the development of human science and technology and the successful implementation of multiple Mars exploration missions, Mars exploration has gradually become one of the hot spots in the aerospace field. In order to obtain more valuable scientific materials, it is often necessary for the probe to land in a specific area with high scientific value, and Mars is far away from the earth, and the communication delay is large, so the support of autonomous navigation guidance and control is needed, and autonomous navigation technology is its prerequisites. The surface environment of Mars is harsh, and there are great uncertainties in the atmospheric environment and gravity field of the entry stage. Accurate and robust autonomous navi...

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Application Information

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IPC IPC(8): G01C21/24
Inventor 崔平远于正湜朱圣英高艾徐瑞
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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