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

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

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.