基于信息融合的小天体软着陆组合导航算法

Integrated Navigation A lgorithm of Small Celestial Body Soft Landing Based on Information Fusion

小天体距地球较远,观测信息不足,引力场弱且分布不规则,对自主导航算法的精度和实时性提出了更高的要求。本工作以小天体软着陆自主导航为应用背景,针对惯性导航误差累积和光学导航观测周期长等问题,提出了一种基于信息融合的组合导航算法。以软着陆探测器的位置和速度为状态向量,通过引入了一种信息融合算法,将光学导航信息与惯性导航信息进行信息融合,生成对软着陆探测器状态的估计。实验结果表明:该算法能有效地提高导航定位精度,并对速度误差有一定的抑制作用,为探测器在小天体表面软着陆提供了一种行之有效的方法。

Small celestial bodies are far away from the earth,lack of observation information,weak gravitational field and irregular distribution,which puts forward higher requirements for the accuracy and real-time of autonomous navigation algorithm.Based on the application background of small celestial body soft landing autonomous navigation,aiming at the prob-lems of inertial navigation error accumulation and long observation period of optical naviga-tion,an optical/inertial integrated navigation algorithm is proposed in this paper.Taking the:position and velocity of the soft landing detector as the state vector,an information fusion al-gorithm is introduced to fuse the optical navigation information and inertial navigation infor-mation to generate the estimation of the state of the soft landing detector.The experimental results show that the algorithm can effectively improve the navigation and positioning accu-racy and restrain the velocity error,which provides an effective method for the probe to land on the surface of small celestial bodies.