Method for determining observability of planetary exploration entry section autonomous navigation system

A technology of an autonomous navigation system and a determination method, which is applied in the field of deep space exploration to achieve the effect of improving the calculation accuracy and reducing the amount of calculation

Inactive Publication Date: 2014-03-05
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Description
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Problems solved by technology

However, this method is generally only used for the verification of observability analysis results

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  • Method for determining observability of planetary exploration entry section autonomous navigation system
  • Method for determining observability of planetary exploration entry section autonomous navigation system
  • Method for determining observability of planetary exploration entry section autonomous navigation system

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Embodiment Construction

[0039] This example is aimed at the determination of the observability of the navigation system during the entry stage of Mars exploration, using the radio ranging information between the lander and three radio beacons to construct a measurement equation, and using the method involved in the invention to determine the observability of the navigation system. The specific implementation method of this example is as follows:

[0040] Step 1: Lander dynamics model establishment

[0041] A 6-DOF dynamic equation is established in the Mars inertial coordinate system. Since the Mars exploration period is short, the influence of the Mars rotation is ignored. The state of the lander is a 6-dimensional vector x=[r T v T ] T , where r=[x y z] T is the position vector of the lander, v=[v x v y v z ] T is the velocity vector of the lander. The dynamic model of the Mars entry segment lander is established as:

[0042] r ...

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Abstract

The invention relates to a method for determining the observability of a planetary exploration entry section autonomous navigation system and belongs to the technical field of deep space exploration. The method comprises the following steps: establishing a navigation measurement equation by utilizing distance measurement information between a lander and a manual telecom tag; and combining an observability analysis method based on Lie differential coefficient with a quadratic approximation method, deducing a recursive calculation method of an observability matrix, and defining the observability of the navigation system by utilizing a reciprocal of the condition number of the observability matrix. The observability determination accuracy of the planetary exploration entry section autonomous navigation system is improved, the calculated amount is reduced, and the planetary exploration entry section navigation performance is improved.

Description

technical field [0001] The invention relates to a method for determining the observability degree of an autonomous navigation system in a planetary exploration entry stage, and belongs to the technical field of deep space exploration. Background technique [0002] Planetary exploration has gradually become one of the hot spots in the aerospace field. Future planetary exploration missions often require probes to land in specific areas to obtain more valuable scientific materials. The planetary surface environment is harsh, and the dynamic system of the entry stage has great uncertainty, so the autonomous navigation of the planetary entry stage is one of the key technologies to ensure accurate landing on the planetary surface. The Mars landing missions that have been successfully implemented are all based on inertial navigation, but due to factors such as initial state errors, random errors of inertial navigation devices, and external environmental disturbances, it is difficu...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
CPCG01C21/16G01C21/20
Inventor 崔平远于正湜朱圣英高艾徐瑞
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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