CN106525055B - It is a kind of based on model perturbation martian atmosphere enter adaptive estimation method - Google Patents
It is a kind of based on model perturbation martian atmosphere enter adaptive estimation method Download PDFInfo
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
Abstract
A kind of martian atmosphere based on model perturbation disclosed by the invention enters adaptive estimation method, belongs to field of deep space exploration.Uncertain parameter is converted into Aerodynamic Model deviation to the perturbation of dynamic system, reduces uncertain parameter item number by the present invention by the coupled relation of analysis martian atmosphere approach section uncertain parameter and Aerodynamic Model；The changing rule to be perturbed according to Aerodynamic Model, establish the Filtering Model for Perturbation deviation in dynamic system, Perturbation corresponds to a deviation in each Filtering Model dynamic system, measurement residual error is predicted by each Filtering Model, and the weight based on measurement each model of residual information adaptive updates, iterative approach true model perturbation, to inhibit influence of the Aerodynamic Model deviation to precision of state estimation.The present invention can reduce the influence that kinetic model perturbs to precision of state estimation in Mars approach section Combinated navigation method, guarantee the stability of detector's status estimated accuracy and navigation system during entering.
Description
Technical field
The present invention relates to a kind of martian atmospheres based on model perturbation to enter adaptive estimation method, belongs to deep space exploration skill
Art field.
Background technique
The following Mars sampling return and manned exploration's mission requirements detector have the ability of surface accuracy, approach section
Active quidance and control are to realize the effective way of Mars accuracy.And detector guidance system needs navigation system to mention for it
The precision of control system instruction is transmitted under guaranteeing for accurate status information, this requires detectors during entering can be real
Existing high-precision independent navigation.
Martian atmosphere approach section, which uses, at present is based on Inertial Measurement Unit (Inertial Measurement Unit, IMU)
The boat position recursion air navigation aid of output, but since this method metrical information is single, original state deviation cannot be modified, and
It is influenced by sensor own system noise, is not able to satisfy required precision of the following Mars accuracy to navigation system.For
Deficiency existing for position recursion air navigation aid of navigating, scholar propose the different externally measured information combination IMU output buildings of introducing in succession
Martian atmosphere approach section Combinated navigation method, Lai Xiuzheng inlet point initial deviation.But the introducing of new navigation information is also brought
New problem will also enter kinetic model while being introduced into externally measured information and introduce in state estimation procedure.When dynamic
True model parameter is taken the photograph caused by uncertain parameter there are when relatively large deviation during mechanical system model parameter and practical flight
The dynamic performance that can reduce navigation system, results even in the diverging of state estimation error.Enter integrated navigation side in martian atmosphere
In method, the principal element for generating perturbation to kinetic model has martian atmosphere density and detector aerodynamic coefficient.Therefore, how
Influence raising approach section precision of state estimation of the model perturbation to navigation performance in Combinated navigation method is effectively inhibited to face
Main problem.
Summary of the invention
A kind of martian atmosphere based on model perturbation disclosed by the invention enters adaptive estimation method, the technology to be solved
Problem is to reduce the influence that kinetic model perturbs to precision of state estimation in Mars approach section Combinated navigation method, guarantees to enter
The stability of detector's status estimated accuracy and navigation system in the process.
The purpose of the present invention is what is be achieved through the following technical solutions.
A kind of martian atmosphere based on model perturbation disclosed by the invention enters adaptive estimation method, passes through analysis first
The coupled relation of martian atmosphere approach section uncertain parameter and Aerodynamic Model, the perturbation uncertain parameter to dynamic system
It is converted into Aerodynamic Model deviation, reduces uncertain parameter item number in dynamic system, the martian atmosphere approach section is not
Determine that parameter includes martian atmosphere density and aerodynamic coefficient.Then, the change perturbed according to Aerodynamic Model in dynamic system
Law, establishes the Filtering Model for Perturbation deviation in dynamic system, and the model Perturbation variation range is to have
Boundary, Perturbation corresponds to a deviation in bounded range in each Filtering Model dynamic system, according to each filtering
Model prediction measures residual error, and the weight based on measurement each model of residual information adaptive updates, the continuous true mould of iterative approach
Type perturbation guarantees that detector's status is estimated during entering to inhibit influence of the Aerodynamic Model deviation to precision of state estimation
Count the stability of precision and navigation system.
A kind of martian atmosphere based on model perturbation enters adaptive estimation method, can be applied to martian atmosphere
Combinated navigation method or radio/IMU Combinated navigation method of approach section dynamic pressure measurement auxiliary etc. improve navigational state estimation
The stability of precision and system.
A kind of martian atmosphere based on model perturbation disclosed by the invention enters adaptive estimation method, including walks as follows
It is rapid:
Step 1: establishing the kinetic model based on Mars inertial system.
For simplified model, it is assumed that detector flies under the conditions of trim generator rotor angle during entrance, yaw angle zero, and controls
Amount angle of heel processed is zero；Approach section establishes such as formula (1) based on the kinetic model of Mars inertial system
Wherein,
In formula (2), (3), L/D indicates detector lift resistance ratio, B=m/CDS indicates ballistic coefficient, CDIndicate detector
Resistance coefficient, S indicate detector area of reference, and m indicates detector quality.Detector lift resistance ratio L/D, ballistic coefficient B, resistance system
Number CD, the nominal value of area of reference S and quality m are all considered as known.ρ is martian atmosphere density, it is assumed that martian atmosphere density p is in
Exponential form distribution form and meet formula (4)
Wherein, ρ0=2e-4kg/m3Indicate martian atmosphere reference density, r0=3,437,200m indicate reference altitude, hs=
7500m martian atmosphere absolute altitude.
Step 2: establishing approach section perturbation model.
By approach section dynamic system it is found that in martian atmosphere density p and detector aerodynamic coefficient and dynamic system
Aerodynamic Model is closely related.And in Combinated navigation method state estimation, perturbation can be with power caused by uncertain parameter
It learns equation recursion to travel in the predicted state and error covariance of subsequent time, occur partially so as to cause more new gain is measured
Difference cannot obtain optimal State Estimation.And in martian atmosphere approach section, atmospheric density ρ and ballistic coefficient B exist larger at any time
Uncertainty, know that martian atmosphere density p and aerodynamic coefficient are coupled in Aerodynamic Model by formula (2), (3), in order to locate
The influence that navigational state is estimated in model perturbation caused by reason uncertain parameter, atmospheric density ρ and ballistic coefficient B to dynamics
Perturbation be attributed to parameter τ and be defined as follows,
The influence of atmospheric density ρ and ballistic systems uncertainty to parameter τ can indicate by formula (6),
In formula (6), variable of the upper right corner with * indicates airborne model parameter, is definite value；Δ indicates airborne model and true
The deviation of model, is unknown time-varying during practical flight, but variation range be assumed to be it is known.Therefore, atmospheric density ρ
And embodiment formula (7) and formula (8) of the ballistic coefficient B uncertainty to the perturbation of dynamic system in Aerodynamic Model.
By formula (7) and formula (8) it is found that perturbation conversion caused by uncertain parameter atmospheric density ρ and ballistic coefficient B
For the model bias of aerodynamic force in dynamic system, the number of indeterminate in dynamic system can be reduced, and aerodynamic force is inclined
The changing rule of difference is identical as uncertain parameter changing rule.
Step 3: inhibit disturbance of the uncertain parameter to dynamic system using adaptive estimation method, improve position and
Velocity estimation accuracy.
According to the boundedness and its changing rule of the model perturbation established in step 2, establishes to be directed in dynamic system and take the photograph
Momentum ΔτFiltering Model, the Perturbation ΔτVariation range is fixed and bounded, takes the photograph in each Filtering Model dynamic system
Momentum ΔτCorresponding to a deviation in bounded range, measurement residual error is predicted according to each Filtering Model, and residual based on measuring
Poor information self-adapting updates the weight of each model, and the corresponding Filtering Model of maximum weight indicates in the model perturbation value closest to true
The perturbation value of real dynamic system.And nondimensionalization processing is carried out to martian atmosphere approach section metrical information, at nondimensionalization
Shown in the acquiring method such as formula (9) of each model weight of adaptive estimation method after reason,
WeightMeet condition described in formula (10),
In formula,Metrical information after indicating the nondimensionalization at k moment, Z0For known constant, aiIt indicates i-th
The corresponding input weight of Filtering Model metrical information.Scalar uiIndicate i-th of Filtering Model and current metrical information after improving
Matching degree.
After nondimensionalization processing shown in each model measurement information weight update method such as formula (11),
In formula, η indicates law of learning, customized by user according to the actual situation, hiFor,
The posterior probability density function of i-th of Filtering Model, and have
In formula,
Each Filtering Model weight is sought by formula (9) and the weight for passing through each Filtering Model of formula (11) update can
Adaptive approaching to reality model perturbation, it is accurate to determine the perturbation value of Perturbation at every sampling moment, so that perturbation be inhibited to align
The influence with velocity estimation is set, the precision of navigational state estimation and the stability of system are improved.
To improve computing speed, meet approach section navigation requirement of real-time, the Filtering Model preferably uses EKF to spy
The position r and speed v for surveying device are resolved.
A kind of martian atmosphere based on model perturbation enters adaptive estimation method, can be applied to martian atmosphere
Combinated navigation method or radio/IMU Combinated navigation method of approach section dynamic pressure measurement auxiliary etc. improve navigational state estimation
The stability of precision and system.
Traditional model weight acquiring method, which is directlyed adopt, carries out different weights to metrical information to seek each filtering Ying Mo
The weight of type.But the relative distance between martian atmosphere approach section, peak dynamic pressure, acceleration and detector and radio beacon
And the observation such as speed numerical quantity is all very big, department pattern weight can be made to tend to be infinitely great using traditional weight acquiring method, led
Cause numerical value computational problem.Step 3 carries out nondimensionalization processing to Mars approach section metrical information, can guarantee what weight was sought
Numerical stability.
The utility model has the advantages that
1, a kind of martian atmosphere based on model perturbation disclosed by the invention enters adaptive estimation method, by not true
Determine parameter (atmospheric density ρ and ballistic coefficient B) and Aerodynamic Model deviation is converted into the perturbation of dynamic system, reduces dynamics
Uncertain parameter item number in system.
2, a kind of martian atmosphere based on model perturbation disclosed by the invention enters adaptive estimation method, by measurement
Information carries out nondimensionalization processing, can adaptively seek the weight of each Filtering Model, the continuous true model of iterative approach
Perturbation, to inhibit dynamical perturbation caused by uncertain parameter (atmospheric density ρ and ballistic coefficient B) to precision of state estimation
It influences, guarantees the stability of detector's status estimated accuracy and navigation system during entering.
3, a kind of martian atmosphere based on model perturbation disclosed by the invention enters adaptive estimation method, using EKF pairs
Filtering Model position r and speed v are resolved, and can be improved computing speed, meet approach section navigation requirement of real-time.
Detailed description of the invention
Fig. 1 is pressure sensor distribution schematic diagram.Fig. 1 (a) indicates the position of pressure sensor on the detector, Fig. 1 (b)
Indicate the spatial relationship of sensor axis and admission velocity direction.
Fig. 2 is that martian atmosphere enters independent navigation strategic process figure.
Fig. 3 is adaptive estimation method state estimation performance map proposed by the present invention.Fig. 3 (a) indicates that x-axis location estimation is missed
Difference and 3 σ deviations, Fig. 3 (b) indicate y-axis position estimation error and 3 σ deviations, and Fig. 3 (c) indicates that z-axis position estimation error and 3 σ are inclined
Difference, Fig. 3 (d) indicate x-axis speed estimation error and 3 σ deviations, and Fig. 3 (e) indicates y-axis speed estimation error and 3 σ deviations, Fig. 3 (f)
Indicate z-axis speed estimation error and 3 σ deviations.
Specific embodiment
Objects and advantages in order to better illustrate the present invention with reference to the accompanying drawing do further summary of the invention with example
Explanation.
Embodiment 1: the Combinated navigation method for using Mars approach section to assist based on dynamic pressure measurement is instance analysis, the navigation
Method kinetic model and measurement model parameter all have larger uncertainty, can more embody the practicability of the present embodiment.This reality
It applies a kind of martian atmosphere based on model perturbation disclosed in example and enters adaptive estimation method, specific implementation method includes following step
It is rapid:
For simplified model, it is assumed that detector flies under the conditions of trim generator rotor angle during entrance, yaw angle zero, and controls
Amount angle of heel processed is zero；Kinetic model foundation of the approach section based on Mars inertial system is as follows,
Wherein,
In formula (2), (3), L/D indicates detector lift resistance ratio, B=m/CDS indicates ballistic coefficient, CDIndicate detector
Resistance coefficient, S indicate detector area of reference, and m indicates detector quality.Detector lift resistance ratio L/D, ballistic coefficient B, resistance system
Number CD, the nominal value of area of reference S and quality m are all considered as known.ρ is martian atmosphere density, it is assumed that martian atmosphere density p is in
Exponential form distribution form and meet formula (4)
Wherein, ρ0=2e-4kg/m3Indicate martian atmosphere reference density, r0=3,437,200m indicate reference altitude, hs=
7500m martian atmosphere absolute altitude.
During Mars enters, IMU can act on the aerodynamic acceleration on detector with real-time measurement, and the present embodiment is neglected
The scale factor deviation and non-calibrated deviation of accelerometer have been omited, shown in accelerometer measures model such as formula (5),
Wherein, akIndicate true aerodynamic acceleration, bakIndicate accelerometer deviation, ηakIndicate measurement noise, and
The pressure distribution of detector surface can enter air data system (Mars by its Mars carried
Entryatmospheric data system, MEADS) the real time measure, MEADS is made of a series of pressure sensors, different
The relationship of pressure and stagnation pressure that the sensor measurement of position obtains can be determining by formula (7),
In formula, R indicates static pressure and overall pressure tatio,Induction angle is indicated, by the axis direction of pressure measuring unit position on the detector
It is determined with the direction of admission velocity, as shown in Figure 1, can derive
By Newtonian fluid model, the relationship of i-th of pressure sensor and stagnation pressure can be obtained
Wherein qk,iIndicate true dynamic pressure value, υq,kIndicate measurement noise.
Step 2: establishing approach section perturbation model.
By approach section dynamic system it is found that in martian atmosphere density and detector aerodynamic coefficient ρ and dynamic system
Aerodynamic Model is closely related.And in Combinated navigation method state estimation, perturbation can be with power caused by uncertain parameter
It learns equation recursion to travel in the predicted state and error covariance of subsequent time, occur partially so as to cause more new gain is measured
Difference cannot obtain optimal State Estimation.And in martian atmosphere approach section, atmospheric density ρ and ballistic coefficient B exist larger at any time
Uncertainty, know that martian atmosphere density and aerodynamic coefficient are coupled in Aerodynamic Model by formula (2), (3), in order to locate
The influence that navigational state is estimated in model perturbation caused by reason uncertain parameter, atmospheric density ρ and ballistic coefficient B to dynamics
Perturbation be attributed to parameter τ and be defined as follows,
The influence of atmospheric density ρ and ballistic systems uncertainty to parameter τ can indicate by formula (11),
In formula (11), variable of the upper right corner with * indicates airborne model parameter, is definite value；Δ indicates airborne model and true
The deviation of real mould, is unknown time-varying during practical flight, but variation range be assumed to be it is known.Therefore, big airtight
Spend the embodiment formula (12) and formula of ρ and ballistic coefficient B uncertainty to the perturbation of dynamic system in Aerodynamic Model
(13)。
By formula (12) and formula (13) it is found that perturbation caused by uncertain parameter atmospheric density ρ and ballistic coefficient B is turned
It is changed to the model bias of aerodynamic force in dynamic system, the number of indeterminate in dynamic system, and aerodynamic force can be reduced
The changing rule of deviation is identical as uncertain parameter changing rule.
Step 3: inhibit disturbance of the uncertain parameter to dynamic system using adaptive estimation method, improve position and
Velocity estimation accuracy.
According to the boundedness and its changing rule of the model perturbation established in step 2, establishes to be directed in dynamic system and take the photograph
Momentum ΔτFiltering Model, the Perturbation ΔτVariation range is fixed and bounded, takes the photograph in each Filtering Model dynamic system
Momentum ΔτCorresponding to a deviation in bounded range, measurement residual error is predicted according to each Filtering Model, and residual based on measuring
Poor information self-adapting updates the weight of each model, and the corresponding Filtering Model of maximum weight indicates in the model perturbation value closest to true
The perturbation value of real dynamic system.And nondimensionalization processing is carried out to martian atmosphere approach section metrical information, at nondimensionalization
Shown in the acquiring method such as formula (14) of each model weight of adaptive estimation method after reason,
WeightMeet condition described in formula (15),
In formula,Metrical information after indicating the nondimensionalization at k moment, Z0For known constant, aiIt indicates i-th
The corresponding input weight of Filtering Model metrical information.ScalarIndicate i-th of Filtering Model and current metrical information after improving
Matching degree.
After nondimensionalization processing shown in each model measurement information weight update method such as formula (16),
In formula, η indicates law of learning, customized by user according to the actual situation, hiFor,
The posterior probability density function of i-th of Filtering Model, and have
In formula:
The mould that perturbs caused by uncertain parameter in kinetic model and measurement model and step 2 is obtained according to step 1
Type, adaptive estimation method through this embodiment resolve the position r and speed v of detector, and entire method was implemented
Journey is as shown in Figure 2.The present embodiment describes perturbation variation, each filtering mould caused by uncertain parameter using 5 Filtering Models
Aerodynamic Model deviation is different in dynamic system in type, and each Filtering Model resolves the position of detector using EKF
Set r and speed v.And enter the real flight conditions of process according to martian atmosphere, it can suitably increase and decrease Filtering Model quantity, present case
Assuming that perturbation caused by atmospheric density and ballistic coefficient are uncertain is obeyed and is just distributed very much, and there is Δτ~N (- 0.15,0.15),
The corresponding Perturbation of each Filtering Model dynamic system is as shown in table 1, and detector original state and corresponding deviation be such as in emulation
Shown in table 2, detector configuration and aerodynamic coefficient are as shown in table 3, and acceleration noise is such as in pressure sensor measured deviation and IMU
Shown in table 4,1000 Monte Carlo simulations are carried out, each state estimation error mean square root of parachute-opening point is as shown in table 5.
The corresponding perturbation deviation of each kinetic model of table 1.
2. detector original state of table and corresponding deviation
Table 3. detects configuration and aerodynamic parameter
4. sensor measurement accuracy of table
5. parachute-opening point position of table and velocity estimation deviation root-mean-square error (RMES)
Table 5 gives model and perturbs the lower adaptive estimation method applied to martian atmosphere approach section dynamic pressure measurement auxiliary
The parachute-opening point position obtained in Combinated navigation method and speed estimation error mean square deviation.As shown in Table 5, which can protect
Demonstrate,proving navigation system, within 600m, three axle speed deviations exist three shaft position deviations under the conditions of uncertain parameter perturbation is existing
Within 0.2m/s.From figure 3, it can be seen that the present embodiment state estimation deviation obtained is gradually restrained with entry time.
Above-described specific descriptions have carried out further specifically the purpose of invention, technical scheme and beneficial effects
It is bright, it should be understood that the above is only a specific embodiment of the present invention, the protection model being not intended to limit the present invention
It encloses, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (5)
1. a kind of martian atmosphere based on model perturbation enters adaptive estimation method, it is characterised in that: include the following steps,
Step 1: establishing the kinetic model based on Mars inertial system；
For simplified model, it is assumed that detector flies under the conditions of trim generator rotor angle during entrance, yaw angle zero, and control amount
Angle of heel is zero；Approach section establishes such as formula (1) based on the kinetic model of Mars inertial system
Wherein
In formula (2), (3), L/D indicates detector lift resistance ratio, B=m/CDS indicates ballistic coefficient, CDIndicate the resistance of detector
Coefficient, S indicate detector area of reference, and m indicates detector quality；Detector lift resistance ratio L/D, ballistic coefficient B, resistance coefficient
CD, the nominal value of area of reference S and quality m are all considered as known；ρ is martian atmosphere density, it is assumed that martian atmosphere density p is in finger
Number form formula distribution form and meet formula (4),
Wherein, ρ0=2e-4kg/m3Indicate martian atmosphere reference density, r0=3,437,200m indicate reference altitude, hs=7500m
Martian atmosphere absolute altitude；
Step 2: establishing approach section perturbation model；
It is by approach section dynamic system it is found that pneumatic in martian atmosphere density p and detector aerodynamic coefficient and dynamic system
Power model is closely related；And in Combinated navigation method state estimation, perturbation can be with dynamics side caused by uncertain parameter
Journey recursion travels in the predicted state and error covariance of subsequent time, deviation occurs so as to cause more new gain is measured, no
It can obtain optimal State Estimation；And in martian atmosphere approach section, atmospheric density ρ and ballistic coefficient B exist at any time it is biggish not
Certainty is known that martian atmosphere density p and ballistic coefficient B are coupled in Aerodynamic Model, in order to handle not by formula (2), (3)
It determines the influence that navigational state is estimated in the perturbation of model caused by parameter, atmospheric density ρ and ballistic coefficient B is taken the photograph to dynamic (dynamical)
It is dynamic to be attributed to parameter τ and be defined as follows,
The influence of atmospheric density ρ and ballistic systems uncertainty to parameter τ can indicate by formula (6),
In formula (6), variable of the upper right corner with * indicates airborne model parameter, is definite value；Δ indicates airborne model and true model
Deviation, be unknown time-varying during practical flight, but variation range be assumed to be it is known；Therefore, atmospheric density ρ and bullet
The uncertain perturbation situation to dynamic system of road coefficient B, the embodiment in Aerodynamic Model is respectively as formula (7) and public
Shown in formula (8)；
By formula (7) and formula (8) it is found that perturbation caused by uncertain parameter atmospheric density ρ and ballistic coefficient B is converted to dynamic
The model bias of aerodynamic force in mechanical system, can reduce the number of indeterminate in dynamic system, and aerodynamic force deviation
Changing rule is identical as uncertain parameter changing rule；
Step 3: inhibiting disturbance of the uncertain parameter to dynamic system using adaptive estimation method, position and speed is improved
Estimated accuracy；
According to the boundedness and its changing rule of the model perturbation established in step 2, establish for Perturbation in dynamic system
ΔτFiltering Model, the Perturbation ΔτVariation range is fixed and bounded, Perturbation in each Filtering Model dynamic system
ΔτCorresponding to a deviation in bounded range, measurement residual error is predicted according to each Filtering Model, and based on measurement residual error letter
Cease the weight of each model of adaptive updates, the corresponding Filtering Model of maximum weight indicates in the model perturbation value closest to true
The perturbation value of dynamic system；And nondimensionalization processing is carried out to martian atmosphere approach section metrical information, after nondimensionalization processing
Each model weight of adaptive estimation method acquiring method such as formula (9) shown in,
WeightMeet condition described in formula (10),
In formula,Metrical information after indicating the nondimensionalization at k moment, Z0For known constant, aiIndicate i-th of filtering
The corresponding input weight of model measurement information；ScalarIndicate the matching of i-th Filtering Model and current metrical information after improving
Degree, M indicate the number of model；
After nondimensionalization processing shown in each model measurement information weight update method such as formula (11),
In formula, η indicates law of learning, customized by user according to the actual situation, hiFor,
The posterior probability density function of i-th of Filtering Model, and have
In formula,
Each Filtering Model weight is sought by formula (9) and the weight for passing through each Filtering Model of formula (11) update can be adaptive
Answer approaching to reality model to perturb, it is accurate to determine the perturbation value of Perturbation at every sampling moment, thus inhibit perturbation to position and
The influence of velocity estimation improves the precision of navigational state estimation and the stability of system.
2. a kind of martian atmosphere based on model perturbation as described in claim 1 enters adaptive estimation method, feature exists
In: to improve computing speed, meet approach section navigation requirement of real-time, the Filtering Model is using EKF to the position of detector
It sets r and speed v is resolved.
3. a kind of martian atmosphere based on model perturbation as claimed in claim 1 or 2 enters adaptive estimation method, feature
It is: can be applied to Combinated navigation method or the radio/integrated navigation side IMU of martian atmosphere approach section dynamic pressure measurement auxiliary
Method improves the precision of navigational state estimation and the stability of system.
4. a kind of martian atmosphere based on model perturbation enters adaptive estimation method, it is characterised in that: pass through analysis fire first
The coupled relation of star atmosphere approach section uncertain parameter and Aerodynamic Model turns uncertain parameter to the perturbation of dynamic system
Aerodynamic Model deviation is turned to, uncertain parameter item number in dynamic system is reduced, the martian atmosphere approach section is not true
Determining parameter includes martian atmosphere density and aerodynamic coefficient；Then, the variation perturbed according to Aerodynamic Model in dynamic system
Rule establishes the Filtering Model for Perturbation deviation in dynamic system, and model Perturbation variation range is bounded, each
Perturbation corresponds to a deviation in bounded range in Filtering Model dynamic system, predicts to survey according to each Filtering Model
Residual error, and the weight based on measurement each model of residual information adaptive updates are measured, continuous iterative approach true model perturbs, thus
Inhibit influence of the Aerodynamic Model deviation to precision of state estimation, guarantees detector's status estimated accuracy and navigation during entering
The stability of system.
5. a kind of martian atmosphere based on model perturbation as claimed in claim 4 enters adaptive estimation method, feature exists
In: it can be applied to Combinated navigation method or the radio/integrated navigation side IMU of martian atmosphere approach section dynamic pressure measurement auxiliary
Method improves the precision of navigational state estimation and the stability of system.
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