A Robust Fusion Method for Landing Segments Based on Multi-beam Ranging Velocity and Inertia

Abstract

A robust fusion method for the landing segment based on multi-beam ranging velocity and inertia, firstly establish the second-order dynamic system of the detector height and vertical velocity, the virtual height of the detector ranging, and the virtual height using the detector ranging Establish a unified linear equation of the detector's altitude and vertical velocity, and obtain the optimal unbiased estimate, and then obtain a robust estimate of the altitude and vertical velocity, and then establish the dynamic equation of the detector relative to the planet's velocity, and the detector's speed measurement The measurement equation of the sensor, and then obtain the unified linear equation and linear unbiased estimation of the velocity of the detector. Finally, according to the linear unbiased estimation of the velocity of the detector relative to the planet, the robustness of the velocity of the detector relative to the planet is obtained by means of the variance upper bound theory. Great estimate.

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...

AI Technical Summary

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 the coupling of attitude and other influences of measurement noise, which lead to the unknown situation, a multi-beam based A Robust Fusion Method for Landing Segments of Ranging Velocity and Inertia for Robust Estimation

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