Ultralow-dispersion switching kalman filter (UD-SKF) method for inert measurement unit (IMU) and very-high-frequency radio combined navigation for mars entry section

A Mars entry and integrated navigation technology, which is applied to integrated navigators and other directions, can solve the problems of divergence, calculation amount and increased calculation complexity, etc.

Inactive Publication Date: 2013-10-09
BEIHANG UNIV
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Problems solved by technology

Aiming at the unfavorable situation that the existing nonlinear autonomous navigation filtering algorithm cannot eliminate these deviations and cause large errors, or even cause divergence, or the amount of calculation and computational complexity increase sharply after state dimension expansion, the present invention proposes The UD-SKF-based filtering

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  • Ultralow-dispersion switching kalman filter (UD-SKF) method for inert measurement unit (IMU) and very-high-frequency radio combined navigation for mars entry section
  • Ultralow-dispersion switching kalman filter (UD-SKF) method for inert measurement unit (IMU) and very-high-frequency radio combined navigation for mars entry section
  • Ultralow-dispersion switching kalman filter (UD-SKF) method for inert measurement unit (IMU) and very-high-frequency radio combined navigation for mars entry section

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[0127] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0128] The present invention relates to a UD-SKF method for combined navigation of IMU and VHF radio in the Mars entry section, and its calculation flow chart is as follows figure 1 Shown and the flow chart of UD-SKF algorithm method is shown as figure 2 As shown, it includes the following four steps:

[0129] Step 1. Establish the dynamic equation of Mars entry section

[0130] During the Mars entry phase, the probe is regarded as an unpowered mass point. Assuming that the atmosphere in the entry section is stationary relative to Mars, and ignoring the rotation of Mars, the three-degree-of-freedom dynamic equation for the entry section of Mars is established:

[0131] r · = v sin γ

[0132] θ · = ...

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Abstract

The invention discloses an ultralow-dispersion switching kalman filter (UD-SKF) method for inert measurement unit (IMU) and very-high-frequency radio combined navigation for a mars entry section. The method comprises the following steps of: 1, constructing a dynamic equation of the mars entry section, 2, constructing a measurement equation of the mars entry section, 3, discretizing the dynamic equation (5) and the measurement equation (6), and 4, outputting navigation information by a UD-SKF algorithm. Compared with an existing extended kalman filter (EKF) algorithm, the UD-SKF algorithm adopted by the invention has the advantages that deviation information of the measurement equation is fused into a filter process, so that a filter effect is greatly improved, and the navigation precision is improved; furthermore, by UD, phenomena of larger errors and even dispersion in the filter process are reduced; the stability of the filter process is enhanced; a navigation state of a detector can be efficiently estimated in real time.

Description

technical field [0001] The invention relates to an autonomous navigation method for combined navigation of Mars entry section, in particular to a UD-SKF method for integrated navigation of Mars entry section IMU and VHF radio, and belongs to the technical field of aerospace autonomous navigation. Background technique [0002] In August 2012, the American Mars rover "Curiosity" successfully landed on Mars, and the landing point was 2385 meters away from the intended target point. However, future Mars exploration and navigation missions require the probe to meet the requirements for fixed-point landing, that is, the landing accuracy is within 1,000 meters. Before landing, the Mars rover will go through the Mars entry stage, descent stage, and landing stage (EDL for short), among which the navigation of the Mars entry stage has the most significant impact on the final landing accuracy of the rover. This is mainly due to the harsh aerodynamic heating environment of the Mars ent...

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Application Information

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IPC IPC(8): G01C21/24
Inventor 傅惠民娄泰山王治华张勇波吴云章肖强
Owner BEIHANG UNIV
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