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Two-step filtration method for reducing dynamic system errors at mars power lowering section

A technology of power descent and system error, applied in the field of aerospace navigation, can solve problems such as not suitable for Mars power descent, difficulty in Mars gravity acceleration, gravity acceleration error, etc.

Inactive Publication Date: 2013-10-09
BEIHANG UNIV
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Problems solved by technology

Even if the gravitational acceleration of the landing site is estimated in advance, there is still a certain error
Especially in the vicinity of some landing sites with complex terrain and landforms that have scientific exploration, the acceleration of gravity on Mars will be difficult to estimate and correct in advance
So it's not very suitable for Mars powered descent

Method used

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  • Two-step filtration method for reducing dynamic system errors at mars power lowering section
  • Two-step filtration method for reducing dynamic system errors at mars power lowering section
  • Two-step filtration method for reducing dynamic system errors at mars power lowering section

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Embodiment Construction

[0066] The present invention relates to a two-step filtering method for weakening the dynamic system error in the Mars power descent section. During the Mars power descent process of the spacecraft, the Mars landing dynamics system relying on the IMU is as follows:

[0067] x · = f ( x ) = v T m l ( a ~ - b a - ξ a ) + g K ( ω ~ - b ω - ξ ω ) ξ a ξ ω 15 × 1 + B k b g = v T m l ( a ~ - b a ) + g K ( ω ~ - b ω ) 0 0 + B k b g + 0 - T m l ξ a - K ξ ω ξ a ξ ω - - - ( 19 )

[0068] b g = b g + w k b - - - ( 20 )

[0069] among them Is the state quantity of the dynamic system, r=[r 1 ,r 2 ,r 3 ] T Is the three-axis dis...

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Abstract

The invention discloses a two-step filtration method for reducing dynamic system errors at a mars power lowering section. The two-step filtration method comprises the following steps of: 1, constructing an engineering practical equation, 2, setting initial values, 3, filtering a state value, 4, filtering the deviation of a dynamic system, 5, updating relevant coefficients, estimating a correction state and estimating a dynamic deviation, and 6, setting k=k+1, returning to the step 3 and repeating the step 3 until k is equal to the moment T corresponding to the end of the mars power lowering section time, namely until a mars landing machine lands, so that the two-step filtration method for reducing the dynamic system errors at the mars power lowering section is finished. According to the method, in a mars power lowering process, the estimation for the position and the speed of an aircraft by a nonlinear and non-Gaussian random system under the condition of the dynamic system errors is uniformly considered. According to the method, the estimation and the compensation for the dynamic system errors are introduced into a calculation process, so that the navigation errors caused by the dynamic system errors on filtration are reduced, and the estimation for the position and the speed of the aircraft at the mars power lowering section is effectively guaranteed.

Description

Technical field [0001] The invention relates to a two-step filtering method for reducing the error of the dynamic system in the Mars power descending section. It belongs to the field of space navigation technology. Background technique [0002] Kalman method is a very common method to determine the position and velocity of a spacecraft. It requires precise knowledge of the dynamics system and the measurement system. In actual engineering, the dynamic system is difficult to obtain accurately, and there are certain uncertainties and dynamic system errors. In the Mars power descent phase, the aircraft dynamics system uses accelerometer and gyroscope (IMU) inertial navigation for track recursion. The accelerometer measures non-inertial force, that is, the gravitational acceleration of Mars cannot be measured. Usually, only the gravity estimated in advance can be used to bring into the calculation, which will produce a larger error. For example, in 2012, the American Curiosity ha...

Claims

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Application Information

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IPC IPC(8): G01C21/24
Inventor 傅惠民吴云章张勇波王治华娄泰山肖强
Owner BEIHANG UNIV
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