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要安全准确着陆于地外天体指定地点,探测器在下降过程需实时精确确定其相对位置和速度.针对惯性导航结合斜距和相对速度测量的导航方式不能修正相对水平位置估计的缺点,以及多敏感器测量信息融合问题,提出基于陆标图像和协方差交叉算法的天体定点着陆自主导航方法.将光学成像敏感器加入到组合导航系统中,用于测量探测器相对陆标的视线方向以获得关键的相对水平位置信息.在状态估计时采用基于协方差交叉的分布式扩展卡尔曼滤波对多源测量信息作最优融合,提高算法的精度和鲁棒性.通过数学仿真验证了该方法的有效性.
To safely and accurately land at the designated place of extraterrestrial celestial objects, the detector needs to accurately determine its relative position and speed in real time during the descent process.Navigation methods for inertial navigation combined with slope distance and relative velocity measurement can not correct the shortcoming of relative horizontal position estimation, and more Sensor measurement information fusion, a celestial fixed-point landing autonomous navigation method based on landmarks and covariance crossover algorithms is proposed.Optical imaging sensors are added to the integrated navigation system to measure the direction of the line of sight of the detector relative to the landmark to obtain the key The relative horizontal position information is obtained.At the same time, the extended fusion Kalman filter based on cross-covariance is adopted to optimize the fusion of multi-source measurement information to improve the accuracy and robustness of the proposed method.The mathematical simulation shows that the proposed method is effective Sex.