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Mars ultimate approach segment autonomous navigation method based on multi-source information fusion

A multi-source information fusion and autonomous navigation technology, applied in the field of autonomous navigation during the final approach to Mars, which can solve the problems that measurement information cannot be obtained in real time, it is difficult to ensure real-time autonomous navigation of probes, and the number of orbiters is limited.

Inactive Publication Date: 2015-04-29
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the number of orbiters is limited at this stage. Due to the occlusion of Mars, the probe is restricted by the visible arc, and the measurement information cannot be obtained in real time.
Moreover, the above navigation schemes mainly rely on ground measurement and control, and it is still difficult to guarantee the real-time autonomous navigation of the detector's final approach segment.

Method used

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  • Mars ultimate approach segment autonomous navigation method based on multi-source information fusion
  • Mars ultimate approach segment autonomous navigation method based on multi-source information fusion
  • Mars ultimate approach segment autonomous navigation method based on multi-source information fusion

Examples

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Effect test

Embodiment 1

[0069] For the final approach to Mars, this example uses optical measurement, radio measurement based on an orbiter, and measurement information from three pulsars, combined with a combined navigation filtering method based on federated filtering, and uses the Extended Kalman Filter algorithm (EKF) as the local filter The detector estimates the position and speed state of the detector to realize high-precision real-time autonomous navigation. The specific implementation method of this example is as follows:

[0070] Step 1: Establish a state model for the Mars final approach segment.

[0071] The state model of the detector is established in the heliocentric inertial coordinate system. The state vector of the detector is the position vector r s =[r x ,r y ,r z ] T and velocity vector v s =[v x ,v y ,v z ] T . Considering the gravitational force of the sun, the gravitational force of Mars and other perturbing forces, the state model of the Mars final approach stage ...

Embodiment 2

[0122] For the final approach to Mars, this example uses optical measurements, radio measurements based on an orbiter, and three pulsar measurement information, combined with a combined navigation filtering method based on federated filtering, and uses the Unscented Kalman Filter algorithm (UKF) as the local The filter estimates the position and speed state of the detector to realize high-precision real-time autonomous navigation. The specific implementation method of this example is as follows:

[0123] Step 1: Establish a state model for the Mars final approach segment.

[0124] The state model of the detector is established in the heliocentric inertial coordinate system. The state vector of the detector is the position vector r s =[r x ,r y ,r z ] T and velocity vector v s =[v x ,v y ,v z ] T . Considering the gravitational force of the sun, the gravitational force of Mars and other perturbing forces, the state model of the Mars final approach stage probe is est...

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Abstract

The invention discloses a mars ultimate approach segment autonomous navigation method based on multi-source information fusion, relates to a mars ultimate approach segment autonomous navigation method and belongs to the technical field of deep space exploration. The method is characterized in that optical measurement, radio measurement based on a mars orbiter and X-ray pulsar measurement information are combined based on a mars ultimate approach segment dynamical model, are effectively fused in the application range based on a federated filtering structure and are standby for one another, and the advantages of various navigation systems are fully exerted; on the basis of establishing a mars ultimate approach segment state model and a mars ultimate approach segment autonomous navigation model, detector real-time navigation status information is resolved by the utilization of an integrated navigation filtering algorithm of a federation structure to realize the mars ultimate approach segment autonomous navigation. According to the mars ultimate approach segment autonomous navigation method, the precision and the real time of the mars ultimate approach segment autonomous navigation can be improved, and the reliability and the fault tolerance of a navigation system can be improved. The method can provide a technical support for the design of a future mars exploration task autonomous navigation solution.

Description

technical field [0001] The invention relates to an autonomous navigation method for the final approaching stage of Mars, belonging to the technical field of deep space exploration. Background technique [0002] In order to explore the traces of life on Mars and understand its geological composition and evolution process, the new generation of Mars exploration missions requires the probe to have the ability to land at a fixed point (landing accuracy <100m), so as to safely reach specific areas with scientific research value. The navigation performance of the Mars final approach stage directly determines the state estimation accuracy of the probe at the atmospheric entry point, which will have an important impact on the navigation and guidance effects of the entry stage, as well as the final landing accuracy of the lander. [0003] In the Mars exploration missions that have been implemented in the past, most of the probes used radio tracking measurements based on the ground...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/24
CPCG01C21/24
Inventor 崔平远王硕高艾朱圣英徐瑞
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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