基于扩维卡尔曼滤波的火星探测器脉冲星相对导航方法

ASUKF based relative navigation method for mars probe using pulsar

X射线脉冲星导航稳定、精度高,太阳系范围内均适用,是实现火星探测器自主导航的有效手段之一。针对目前编队深空任务中可采用的相对位置确定方法单一且不自主的问题,提出了一种基于X射线脉冲星的编队火星探测器转移轨道自主相对导航方法。为降低模型误差,考虑了火星及地球对探测器相对导航精度的影响,引入扩维Unsented卡尔曼滤波,降低随机测量误差的同时修正系统状态模型误差。地面半物理仿真实验结果表明该方法的相对位置估计精度可达30 m以内,可以满足火星探测编队飞行的自主相对导航需求。

Autonomous navigation using pulsars has the characteristics, such as stable performance, high navigation accuracy and applicable within the scope of the solar system, which is one of the effective means to realize mars probe autonomous navigation. Aiming at the problems that the relative position determination method adopted in the formation deep-space exploration task is only single one and has non-autonomous feature, a kind of autonomous relative navigation method for the transfer orbit of formation mars probe based on X-ray pulsar is proposed. In order to reduce the error of the model, the influences of the mars and earth on the relative navigation accuracy of the probe are stud- ied. The augmented state unscented Kalman filter, ASUKF is introduced. The method could not only reduce the random error, but also correct the system state model error. Ground hardware-in-loop simulation experiment results show that the relative position estimation error of the method is within 30 m, which meets the autonomous relative navigation requirements of mars probe formation flight.