Planetary power descending branch navigation method based on TDS (total descending sensor) and image measurement

A technology of dynamic descent and navigation method, which is applied in the field of deep space exploration, can solve problems such as time-consuming, high requirements for on-board computers, cumbersome image recognition and processing processes, etc., and achieve the effect of improving horizontal position accuracy

Active Publication Date: 2013-12-11
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

However, the image recognition and processing process is cumbersome, time-consuming, an

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  • Planetary power descending branch navigation method based on TDS (total descending sensor) and image measurement
  • Planetary power descending branch navigation method based on TDS (total descending sensor) and image measurement
  • Planetary power descending branch navigation method based on TDS (total descending sensor) and image measurement

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Embodiment Construction

[0041] In order to better illustrate the purpose and advantages of the present invention, the content of the invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0042] This example is aimed at the navigation scheme based on TDS and image measurement in the Mars dynamic descent section, combined with the distance measurement and speed measurement information of three-beam TDS, and the angle information between the sight lines of three feature points, the extended Kalman filter is used for filtering calculation to realize High-precision navigation on powered descents. The specific implementation method of this example is as follows:

[0043] Step 1: Establishment of the state model of the Mars power descent section

[0044] The state model of the lander is established in the fixed coordinate system of the landing point. Lander state x includes position vector r=[x,y,z] T , velocity vector v=[v x ,v y ,v z ] T , attitu...

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Abstract

The invention relates to a planetary power descending branch navigation method based on a TDS (total descending sensor) and image measurement and belongs to the technical field of deep space exploration. At a power descending branch, an inertial unit of a landing device navigation system is used for flight position recurrence and is a basic sensor; a Doppler radar on the TDS is used for directly acquiring distances from a landing device to the surface of a target planet in three wave beam directions and relative speeds of the landing device along the three wave beam directions and then calculating the altitude of the landing device and speeds of the landing device in three axial directions of a landing point fixedly-connected coordinate system; a navigation camera serving as a vision auxiliary navigation sensor is used for precisely measuring included angles between sight directions of different characteristic points of a landing area; the positions of the characteristic points relative to the landing point are known; the sight included angles contain horizontal position information of the landing device relative to the landing point, so that the horizontal position precision of the landing device is greatly improved.

Description

technical field [0001] The invention relates to a navigation method for a planetary dynamic descent section based on TDS and image measurement, and belongs to the technical field of deep space exploration. Background technique [0002] Future Mars exploration requires landers to achieve fixed-point soft landings. The power descent stage is the main controlled stage of the lander. Through a certain guidance algorithm, the lander can be controlled to fly to the predetermined target point to achieve a precise point landing, which must be based on the precise position and speed information provided by the navigation system. Therefore, constructing a navigation scheme that can accurately determine the position and velocity of the lander is the basis for the success of the fixed-point landing mission. [0003] Previous Mars landing missions used radar altimeters to measure the height information of the lander during the power descent, but the speed information was measured differ...

Claims

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Application Information

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IPC IPC(8): G01C21/24
Inventor 朱圣英秦同崔平远高艾徐瑞
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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