A Robust Navigation Method for Multi-beam Velocity and Ranging Correction

Abstract

The invention relates to a robust navigation method capable of realizing multi-beam velocity and distance measurement correction. The robust navigation method comprises the steps of firstly performing inertial navigation computation, then performing distance measurement correction and finally performing velocity correction, wherein a signal source used for distance measurement correction is a distance measuring sensor; signal sources for velocity correction are divided into two kinds, wherein one is the kind of distance measurement signals and the other is the kind of velocity measurement signals; when the distance measurement signals are effective and flight height is within a velocity measurement correction introduction range, height solved through two continuous distance measurement signals is differentiated to obtain velocity in the direction of gravity; when the velocity measurement signals are effective and the flight height is within the velocity measurement correction introduction range, the velocity along the direction of wave beams of the velocity measuring sensor is directly obtained. Lander inertial velocity at a moment corresponding to the distance measurement signal or the velocity measurement signal is calculated by using velocity of two cycles before inertial navigation, then velocity relative to lunar surface is obtained through conversion and the velocity is projected into the direction of height or the direction of velocity measuring wave beams. The robust navigation method capable of realizing multi-beam velocity and distance measurement correction has the advantages that the method is simple and practical, the reliability is high and the high accuracy of the whole navigation process is guaranteed.

Description

technical field [0001] The invention relates to a robust navigation method for multi-beam speed measurement and range correction, which belongs to the field of autonomous navigation for lunar and deep space exploration soft landing missions. Background technique [0002] The soft landing of extraterrestrial objects is a brand new task for our country. For the GNC system, obtaining accurate navigation data is a prerequisite to ensure a safe and soft landing of the lander. Due to the short time and high autonomy of the soft landing process, there are similar missions abroad, including the moon landing missions implemented by the US Apollo, Surveyor and the former Soviet Union's Luna series, as well as the lunar landing missions planned by the European Space Agency and Japan. All use inertial navigation as the main navigation method. [0003] Inertial navigation technology relies on the gyroscope to directly measure the angular velocity and integrate it to obtain the attitude...

AI Technical Summary

Problems solved by technology

The disadvantages of the above method are: (1) three beams are required to be effective at the same time, and the fault tolerance is not good; (2) there is only one ranging beam, in order to adapt to the adjustment of large attitude, moving parts are required, which reduces the reliability of the system

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