| 引用本文: | 侯博文,王炯琦,周海银,何章鸣.基于陆标图像的火星绕飞自主导航方法[J].控制理论与应用,2019,36(12):1988~1996.[点击复制] |
| HOU Bo-wen,WANG Jiong-qi,ZHOU Hai-yin,HE Zhang-ming.Autonomous Navigation Method of Mars Orbit Based on Landmarks[J].Control Theory and Technology,2019,36(12):1988~1996.[点击复制] |
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| 基于陆标图像的火星绕飞自主导航方法 |
| Autonomous Navigation Method of Mars Orbit Based on Landmarks |
| 摘要点击 2184 全文点击 983 投稿时间：2019-09-26 修订日期：2020-01-08 |
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| DOI编号 10.7641/CTA.2019.90812 |
| 2019,36(12):1988-1996 |
| 中文关键词 陆标图像 自主导航 极大相关熵 卡尔曼滤波 不确定性误差 |
| 英文关键词 Landmark Image Autonomous Navigation Maximum Correntropy Kalman Filter Uncertainty Error |
| 基金项目 国家自然科学基金,省自然科学基金,其它 |
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| 中文摘要 |
| 针对火星绕飞自主导航的高精度要求，在仅观测火星地表陆标图像信息的基础上，建立了相应的自主导航方案并利用李导数分析了该方案的可观测性。考虑到拍摄到图像测量信息并进行视线提取过程中可能会产生的不确定性测量误差，采用基于极大相关熵的无迹卡尔曼滤波算法抑制不确定性误差影响，并实现对航天器的位置、速度等状态估计。通过数学仿真验证了该自主导航方法的可靠性以及极大相关熵无迹卡尔曼滤波算法对不确定误差影响的抑制。 |
| 英文摘要 |
| Aiming at the high precision requirement of autonomous navigation around Mars, an autonomous navigation scheme was established based on the image information observing-only of Mars surface landmarks. The observability of the scheme was analyzed by using the lie derivative. Considering the uncertainty measurement errors that may be generated in the process of capturing the image measurement information and extracting the line of sight, the unscented Kalman filter algorithm based on maximum correlation entropy is adopted to suppress the influence of the uncertainty error and realize the estimation of the position, velocity and other states of the spacecraft. The mathematical simulation verified the reliability of the autonomous navigation method and the suppression of uncertain error by the maximum correntropy unscented Kalman filter. |