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文章编号： 1672-6987（2023）02-0101-07； DOI： 10.16351/j.1672-6987.2023.02.014
曹梦龙， 王啸宇， 高越（青岛科技大学 自动化与电子工程学院，山东 青岛 266061）
摘要： 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。
关键词： 小天体软着陆； 自主导航； 组合导航； 信息融合
中图分类号：V 448.22文献标志码： A
引用格式： 曹梦龙， 王啸宇， 高越. 基于信息融合的小天体软着陆组合导航算法［J］. 青岛科技大学学报(自然科学版), 2023, 44(2): 101-107
CAO Menglong， WANG Xiaoyu， GAO Yue. Integrated navigation algorithm of small celestial body soft landing based on information fusion［J］. Journal of Qingdao University of Science and Technology（Natural Science Edition), 2023， 44（2）： 101-107.
Integrated Navigation Algorithm of Small Celestial
Body Soft Landing Based on Information Fusion
CAO Menglong， WANG Xiaoyu， GAO Yue
(College of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao 266061，China)
Abstract: 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 problems of inertial navigation error accumulation and long observation period of optical navigation, 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 algorithm is introduced to fuse the optical navigation information and inertial navigation information 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 accuracy and restrain the velocity error, which provides an effective method for the probe to land on the surface of small celestial bodies.
Key words: soft landing of small celestial bodies；autonomous navigation；optical / inertial integrated navigation； information fusion
收稿日期： 2022-05-02
基金项目： 国家863计划项目(2019YFA0706500).
作者简介： 曹梦龙(1971—),男, 教授.
