Small celestial body soft landing autonomous navigation method based on optical and Doppler radars

A Doppler radar, soft landing autonomous technology, applied in navigation, mapping and navigation, electromagnetic wave re-radiation and other directions, can solve the problems of low estimation accuracy, slow filtering convergence speed, etc., to meet the accuracy requirements, reduce adverse effects, The effect of a quick estimate

Active Publication Date: 2017-09-05
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0004] Aiming at the problems of low estimation accuracy and slow filtering convergence speed in autonomous optical navigation for soft landing of small celestial bodies in the prior art, an autonomous navigation method for soft landing of small celestial bodies based on optical and Doppler radar disclosed in the present invention, the technical problem to

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  • Small celestial body soft landing autonomous navigation method based on optical and Doppler radars
  • Small celestial body soft landing autonomous navigation method based on optical and Doppler radars
  • Small celestial body soft landing autonomous navigation method based on optical and Doppler radars

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Embodiment 1

[0057] This example is aimed at the soft landing of small celestial bodies, and takes Eros433 as the target small celestial body to carry out simulation verification. The initial position of the detector in the fixed coordinate system of the small celestial body landing site is [500m, 300m, 2000m] T , the initial speed is [-0.5m / s,-0.3m / s,-0.5m / s] T , the position of the target landing point on the surface of the small celestial body is [0m,0m,0m] T . By combining the line-of-sight information measured by the optical camera and the relative distance measurement and velocity measurement information of the Doppler lidar, the extended Kalman filter (EKF) is used to jointly estimate the position and velocity state of the detector to achieve high-precision real-time autonomous navigation.

[0058] An autonomous navigation method for soft landing of small celestial bodies based on optical and Doppler radar disclosed in this example includes the following steps:

[0059] Step 1: E...

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Abstract

The invention discloses a small celestial body soft landing autonomous navigation method based on optical and Doppler radars, and belongs to the field of deep space detection. The method comprises the following steps: building a dynamic model for a small celestial body soft landing detector, building a standard gravitational field model for a small celestial body, and carrying out the linearization of the dynamic model; building an autonomous navigation measurement model, introducing Doppler radar range finding and speed measurement information on the basis of an autonomous optical navigation method, transmitting a radar wave beam through a Doppler radar, measuring the relative distance between the radar wave beam and the surface of the small celestial body and the relative speed information, and obtaining the real-time position and speed information of the detector; and solving the real-time navigation state information based on a nonlinear system filtering algorithm according to the landing dynamic model of the small celestial body and the measurement model. The method can improve the estimation precision and filtering convergence speed, achieves the quick precise estimation of the state of the detector, and provides support for the precise soft landing task navigation of the small celestial body.

Description

technical field [0001] The invention relates to an autonomous navigation method for soft landing of a small celestial body, and belongs to the technical field of deep space exploration. Background technique [0002] Small celestial body landing detection is the main way for humans to understand the formation and evolution of the universe and the solar system, and to explore the origin of life, and the precise landing of probes in complex areas with high scientific value on the surface of small celestial bodies is a hot issue in deep space exploration technology research. Because small celestial bodies are far away from the earth, the traditional navigation method using ground station measurement and control communication has a large communication delay, which is difficult to meet the requirements of small celestial body landing missions. Therefore, autonomous navigation technology has become the main navigation method for small celestial body landing detection. Due to the we...

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Application Information

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IPC IPC(8): G01S17/02G01C21/00G01C11/00
CPCG01C11/00G01C21/005G01S17/86
Inventor 崔平远贾贺朱圣英于正湜戴娟
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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