Landing segment robust fusion method based on multi-beam ranging, velocity measurement and inertia

A fusion method, multi-beam technology, applied in the direction of measuring device, surveying and navigation, navigation through speed/acceleration measurement, etc.

Active Publication Date: 2019-10-08
BEIJING INST OF CONTROL ENG
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Problems solved by technology

[0006] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, aiming at the range measurement and speed measurement correction process of the Mars landing section, due to

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  • Landing segment robust fusion method based on multi-beam ranging, velocity measurement and inertia
  • Landing segment robust fusion method based on multi-beam ranging, velocity measurement and inertia
  • Landing segment robust fusion method based on multi-beam ranging, velocity measurement and inertia

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Embodiment Construction

[0053] The present invention provides a robust fusion method for the landing segment based on multi-beam ranging, velocity and inertia for the ranging and velocity correction process of the Mars landing segment. Implement robust estimation. And considering on-board computing constraints, real-time estimation is realized, including the following steps:

[0054] (1) Ranging correction

[0055] (11) Establish the second-order dynamic equation of altitude-vertical velocity according to the inertial navigation equation.

[0056] (12) Use the attitude information to calculate the height according to the measurement of each beam, and use the height as a virtual observation

[0057] (13) According to the altitude predicted by the inertial navigation, the vertical velocity and the distance measurement, the altitude is obtained, and the linear unified equation is obtained, and the optimal unbiased estimation of the altitude and the vertical velocity can be obtained by using the minimu...

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Abstract

The invention discloses a landing segment robust fusion method based on multi-beam ranging, velocity measurement and inertia. A second-order dynamic system for a detector height and a vertical velocity, and a virtual height for detector ranging are firstly built, the virtual height for detector ranging is used to build a unified linear equation of the detector height and the vertical velocity, optimal unbiased estimation is obtained, and robust estimation for the height and the vertical velocity is further obtained; then, a dynamic equation of a velocity of the detector in relative to a planetand a measurement equation of a detector velocity measurement sensor are built, and further, the unified linear equation and the linear unbiased estimation for the detector velocity are further obtained; and finally, according to the linear unbiased estimation for the velocity of the detector in relative to the planet, with the help of a variance upper bound theory, the robust estimation for thevelocity of the detector in relative to the planet is obtained.

Description

technical field [0001] The invention relates to the field of autonomous navigation for Mars and deep space exploration soft landing missions, in particular to a robust fusion method for landing segments based on multi-beam ranging, velocity and inertia. Background technique [0002] The Entry, Descent, and Landing (EDL) section of the Mars exploration mission is the last 6 or 7 minutes of the Mars probe’s journey of nearly 700 million kilometers. It is the key stage of the Mars surface exploration mission and the most difficult stage. EDL technology is also one of the key technologies for Mars surface exploration missions. From the time the Mars probe entered the Martian atmosphere at a speed of 20,000 kilometers per hour, it went through a series of stages such as atmospheric deceleration, parachute drag, and power deceleration, and finally in order to ensure a safe and accurate landing on the surface of Mars. [0003] Most of the failure cases of Mars exploration are due...

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Application Information

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IPC IPC(8): G01C21/16G01C21/02
CPCG01C21/025G01C21/16
Inventor 李茂登黄翔宇郭敏文徐超魏春岭张晓文胡锦昌王晓磊
Owner BEIJING INST OF CONTROL ENG
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