卡尔曼滤波方法在火星着陆自主导航中的应用

发布时间：2018-06-06 10:29

本文选题：卡尔曼滤波 + 自主导航　；参考：《哈尔滨工业大学》2015年硕士论文

【摘要】：随着人类航天技术的发展,人们对宇宙空间和太阳系中其它星球的探索活动逐渐增多,尤其是对太阳系中的其他星球的探索日益引起人们的关注,在这些行星中,火星可以说是太阳系中和地球最相似的行星了,所以一直以来,人类对的火星的探测计划在整个对太阳系的探测计划中都是非常重要的一部分。因此在像火星这类具有丰富地貌的复杂区域进行精确着陆成为当前科学研究的一个迫切需要。这篇文章将对探测器对火星进行探测的登陆过程中的大气进入段以及动力下降段提出了一些可行的自主导航方案并对其进行了一些仿真模拟。首先,根据探测器在大气进入段和动力下降段的不同特点,对各阶段的动力学模型进行合理的简化给出适用于导航方案分析与设计的动力学模型及状态方程;根据大气进入段的特点,通过对现有技术条件的分析,建立在惯性导航系统的测量数据和卫星导航系统的测量数据共同作为外部观测量的导航方案,根据动力下降段的特点,根据敏感器的测量原理建立观测方程,设计导航滤波器及方案;针对大气进入段建立三种导航方案,应用UKF卡尔曼滤波设计滤波器,并且对该导航方案模型进行数学仿真,对比验证三种导航方案能否满足精度要求。根据其动力下降段的特点,应用EKF卡尔曼滤波设计滤波器,验证该导航方案能否达到动力下降段火星探测器的精度要求。
[Abstract]:With the development of human space technology, the exploration of space and other planets in the solar system has gradually increased, especially the exploration of other planets in the solar system. Mars is arguably the most Earth-like planet in the solar system, so human exploration of Mars has long been an important part of the entire exploration of the solar system. Therefore, precise landing in complex regions with rich landforms such as Mars has become an urgent need for current scientific research. In this paper, some feasible autonomous navigation schemes are proposed and simulated for the atmospheric entry and dynamic descent during the probe's landing on Mars. Firstly, according to the different characteristics of the detector in the atmospheric entry section and the dynamic descent section, the dynamic model and the state equation suitable for the analysis and design of the navigation scheme are given. According to the characteristics of the atmospheric entry section, through the analysis of the existing technical conditions, the measurement data based on the inertial navigation system and the measurement data of the satellite navigation system are jointly used as the navigation scheme for the external observations, and according to the characteristics of the dynamic descent section, According to the measuring principle of the sensor, the observation equation is established, the navigation filter and scheme are designed, three navigation schemes are established for the atmospheric entry section, the filter is designed by using UKF Kalman filter, and the mathematical simulation of the navigation scheme model is carried out. Compare and verify that the three navigation schemes can meet the accuracy requirements. According to the characteristics of the dynamic descent section, EKF Kalman filter is used to design the filter to verify whether the navigation scheme can meet the precision requirements of the dynamic descent Mars rover.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V448.2

【参考文献】