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A system error self-compensation method based on navigation sensor to capture images of Mars

A system error, autonomous navigation system technology, applied in integrated navigators, navigation calculation tools, instruments, etc., can solve the problems of low measurement and control accuracy, unable to support Mars orbit capture and braking, etc., to achieve the effect of improving accuracy

Active Publication Date: 2021-11-16
SHANGHAI AEROSPACE CONTROL TECH INST
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Problems solved by technology

[0002] During the flight of the Mars rover, it is very far away from the ground. The measurement and control accuracy of the ground is two orders of magnitude lower than that of the Earth orbit spacecraft, and can reach the order of hundreds of kilometers. This is far from supporting the needs of Mars orbit capture and braking.

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  • A system error self-compensation method based on navigation sensor to capture images of Mars
  • A system error self-compensation method based on navigation sensor to capture images of Mars
  • A system error self-compensation method based on navigation sensor to capture images of Mars

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Embodiment Construction

[0050] Such as figure 1 , figure 2 As shown, the system error self-compensation method based on the Mars image taken by the navigation sensor of the present invention, its steps are as follows:

[0051] step one:Introduce the error model of the Mars overall imaging autonomous navigation system, and establish a Mars autonomous navigation system including system errors such as optical axis deviation and attitude determination deviation;

[0052] The errors of the autonomous navigation system mainly include the on-orbit installation deviation of the star sensor and the on-orbit installation deviation of the navigation sensor. Here, the two system errors are treated equivalently as the navigation sensor optical axis pointing error [θ x ,θ y ,θ z ], the follow-up will no longer distinguish the on-orbit installation deviation between the star sensor and the navigation sensor, but the equivalent error [θ x ,θ y ,θ z ] to compensate.

[0053] The equivalent processing metho...

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Abstract

The invention discloses a system error self-compensation method for taking Mars images based on a navigation sensor, which directly uses the Mars images taken by the Mars navigation sensor to realize high-precision identification and compensation of errors in the autonomous navigation system, and obtains more accurate results. Mars rover autonomous navigation information. This method mainly includes four steps: 1) Introduce the error model of the Mars integral imaging autonomous navigation system, and establish the Mars autonomous navigation system including system errors such as optical axis deviation and attitude determination deviation; 2) Find the conditional expectation of the system error during the navigation period , to calculate the system error value when the conditional expectation is maximum; 3) replace the updated system error value with the Mars navigation system and update iteratively; 4) update the Mars autonomous navigation system with the converged system error value to compensate the system error, and obtain Subsequent precise navigation results.

Description

technical field [0001] The invention relates to a system error correction method of the Mars autonomous navigation system. It specifically involves a method of directly using the Mars image taken by the Mars navigation sensor without increasing the measurement unit and the measurement volume, and by calculating the conditional expectation of the system error and maximizing it, the accurate estimation of the navigation system deviation can be realized, and the navigation system can be accurately estimated. Compensation in this method to obtain more accurate autonomous navigation information of the Mars rover. Background technique [0002] During the flight of the Mars rover, it is very far away from the ground, and the measurement and control accuracy of the ground is two orders of magnitude lower than that of the earth orbiting spacecraft, which can reach the order of hundreds of kilometers, which is far from supporting the needs of Mars orbiting capture and braking. Theref...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01C25/00G01C21/24
CPCG01C21/20G01C21/24G01C25/005
Inventor 刘宇孙建党黄韵弘操宏磊王献忠肖东东
Owner SHANGHAI AEROSPACE CONTROL TECH INST
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