CN114152261B - Adaptive navigation correction method and system for extraterrestrial celestial body landing process - Google Patents
Adaptive navigation correction method and system for extraterrestrial celestial body landing process Download PDFInfo
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- G—PHYSICS
- 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
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- G—PHYSICS
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
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- G—PHYSICS
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
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- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
- G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
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Abstract
The invention discloses a self-adaptive navigation correction method and a system for an extraterrestrial celestial body landing process, wherein the method comprises the following steps: sequentially calculating to obtain the height correction quantity corresponding to each wave beam of the ranging sensor, and carrying out weighted fusion processing on the height correction quantity corresponding to each wave beam of the ranging sensor obtained by calculation to obtain the global height correction quantity; according to the obtained global height correction, adaptively correcting the lander position output by inertial navigation calculation; sequentially calculating to obtain the speed correction quantity of each wave beam of the speed measuring sensor along the wave beam direction, and performing three-dimensional synthesis on the speed correction quantity of each wave beam of the speed measuring sensor along the wave beam direction, so as to obtain the global speed correction quantity; and carrying out self-adaptive correction on the lander speed outputted by inertial navigation calculation according to the obtained global speed correction quantity. The invention effectively fuses the output value of inertial navigation with the measured value of the distance measuring and speed measuring sensor, thereby realizing the accurate estimation of the height and speed of the lander relative to the surface of the Mars.
Description
Technical Field
The invention belongs to the technical field of guidance, navigation and control of spacecrafts, and particularly relates to a self-adaptive navigation correction method and system for an extraterrestrial celestial body landing process.
Background
The entry, descent and landing stage (ENTRY DESCENT AND LANDING, EDL for short) of the Mars detection task is the last 6, 7 minutes of the Mars detector's approximately 7 hundred million kilometers trip, and is the critical and most difficult stage of the Mars surface detection task. EDL technology is also one of the key technologies for the task of mars surface detection. Starting from the spark detector entering the spark atmosphere at a speed of 2 tens of thousands of kilometers per hour, it goes through a series of stages of atmospheric deceleration, parachute dragging, dynamic deceleration, etc., and finally falls on the surface of the spark in order to ensure safety and accuracy. The flying environment of the Mars atmosphere entering process is bad, and in order to protect the detector from being damaged by high temperature, the detector needs to be packaged in a heat-proof outsole. Before entering the thermal protection outsole from the atmosphere, only the inertial sensor is available, and after the thermal protection outsole is thrown, the inertial navigation error is corrected by using the ranging and speed measuring sensors, so that the accuracy of the height and speed estimation is ensured.
During landing, outliers may occur in the ranging and speed measuring sensor. Once the abnormal value is introduced, great height and speed estimation deviation can be brought to influence task success or failure, so that the design of the ranging and speed measurement correction algorithm needs to consider the rejection of the abnormal value. The current abnormal value elimination is mainly realized by two means of multi-beam scoring judgment and inertial navigation comparison of a distance measurement and speed measurement sensor.
And (3) multi-beam scoring judgment of the distance and speed measuring sensor: the number of available beams is required to be at least 5, and because of the attitude swing and the measurement constraint of the sensor, the number of available beams is very small (less than 5) in the initial stage of outsole polishing, so that abnormal values cannot be removed in the period of the initial stage of outsole polishing, and further accurate estimation of the height and the speed cannot be realized.
Inertial navigation comparison: the rejection threshold needs to be selected. If the rejection threshold is selected to be too small, normal beams may not be introduced; if the rejection threshold is selected too much, abnormal beams may be introduced, so that inertial navigation is biased; once the inertial navigation is biased, the normal beam may not meet the comparison threshold in the subsequent steps, and the risk of correction is not introduced.
Disclosure of Invention
The technical solution of the invention is as follows: the adaptive navigation correction method and the adaptive navigation correction system for the landing process of the extraterrestrial celestial body overcome the defects of the prior art, and realize the accurate estimation of the height and the speed of the lander relative to the surface of a Mars by effectively fusing the output value of inertial navigation (the position and the speed of the lander which are output by the inertial navigation through calculation) with the measured value of a distance measuring sensor and a speed measuring sensor.
In order to solve the technical problems, the invention discloses a self-adaptive navigation correction method for an extraterrestrial celestial body landing process, which comprises the following steps:
sequentially calculating to obtain the height correction quantity corresponding to each wave beam of the ranging sensor, and carrying out weighted fusion processing on the height correction quantity corresponding to each wave beam of the ranging sensor obtained by calculation to obtain the global height correction quantity; according to the obtained global height correction, adaptively correcting the lander position output by inertial navigation calculation;
Sequentially calculating to obtain the speed correction quantity of each wave beam of the speed measuring sensor along the wave beam direction, and performing three-dimensional synthesis on the speed correction quantity of each wave beam of the speed measuring sensor along the wave beam direction, so as to obtain the global speed correction quantity; and carrying out self-adaptive correction on the lander speed outputted by inertial navigation calculation according to the obtained global speed correction quantity.
In the above-mentioned adaptive navigation correction method in the process of landing an extraterrestrial celestial body, the height correction amount corresponding to each beam of the ranging sensor is obtained by sequentially calculating, including:
obtaining the gravitation under the body coordinate system of the inertial navigation calculation output Projection p R(i) of the direction of the i-th beam of the distance-measuring sensor in the body coordinate system, and distance measurement/>, of the i-th beam of the distance-measuring sensor
According toP R(i) and/>Resolving to obtain/>
Wherein,Representing the altitude of the lander relative to the celestial surface based on the ith beam of the ranging sensor;
According to The solution obtains the height correction quantity delta h (i) of the ith wave beam of the distance measuring sensor:
Wherein h ins represents the height of the lander relative to the celestial body surface output by inertial navigation solution, and K h(i) represents the ranging correction coefficient of the ith beam of the ranging sensor;
And (3) based on the formulas (1) and (2), sequentially calculating to obtain the height correction quantity corresponding to each wave beam of the ranging sensor.
In the above-mentioned adaptive navigation correction method for the extraterrestrial celestial body landing process, the solution formula of the global altitude correction is as follows:
Where δh represents the global height correction, s represents the total number of available beams of the ranging sensor, β i represents the ranging correction coefficient of the i-th beam of the ranging sensor, and d h(i) represents the introduction identifier of the i-th beam of the ranging sensor.
In the above-mentioned adaptive navigation correction method for an extraterrestrial celestial body landing process, performing adaptive correction on a lander position outputted by inertial navigation solution according to an obtained global altitude correction amount, comprising:
Obtaining lander position output from inertial navigation solution
By the following formula (4)Performing adaptive correction to obtain the lander position after the adaptive correction:
Where r ins denotes the adaptive corrected lander position.
In the above-described method for adaptive navigation correction during landing of an extraterrestrial celestial body,
The solution formula for d h(i) is as follows:
Wherein G h represents a ranging effectiveness comparison threshold, and k Gh represents an amplification factor of G h;
the solution formula for β i is as follows:
k Gh performs adaptive adjustment according to the following strategy: when the number of the ranging beams introduced into the correction is smaller than max (s-3, 3) in 10 continuous navigation ranging correction periods, k Gh =2.0; setting k Gh as a default value until the number of the ranging beams which are introduced and corrected in a certain navigation period is not less than max (s-3, 3); wherein the default value of k Gh is 1.0;
The solution formula for introducing the modified number of ranging beams is as follows:
Where m dh denotes the number of ranging beams into which the correction is introduced.
In the above-mentioned adaptive navigation correction method in the process of landing an extraterrestrial celestial body, the speed correction amount of each beam of the speed measurement sensor along the beam direction is obtained by sequentially calculating, including:
Acquiring a component v ins,(j) of a jth wave beam of a ground speed edge speed measuring sensor and a speed measuring value of the jth wave beam of the speed measuring sensor, which are output by inertial navigation calculation
According to v ins,(j) andResolving to obtain δv (j):
Wherein δv (j) represents the speed correction amount of the jth beam of the tachometer sensor along the beam direction, K v(j) represents the tachometer correction coefficient of the jth beam of the tachometer sensor, and d v(j) represents the introduction identifier of the jth beam of the tachometer sensor;
Based on the formula (8), the speed correction quantity of each wave beam of the speed measuring sensor along the wave beam direction is obtained through calculation in sequence.
In the above-mentioned adaptive navigation correction method for the extraterrestrial celestial body landing process, the calculation formula of the global velocity correction is as follows:
Wherein, Representing global velocity correction, p V(j) represents the projection of the jth beam of the tach sensor pointing to under the body coordinate system, j=1, 2, …, s v,sv represents the total number of available beams of the tach sensor.
In the above-mentioned adaptive navigation correction method for an extraterrestrial celestial body landing process, the adaptive correction of the lander speed outputted by inertial navigation solution according to the obtained global speed correction amount includes:
obtaining lander velocity output from inertial navigation solution
By the following formula (10)Performing adaptive correction to obtain the lander speed after the adaptive correction:
Where v ins denotes the adaptive corrected lander speed, Representing the transformation matrix of the body coordinate system to the inertial coordinate system.
In the above-described method for adaptive navigation correction during landing of an extraterrestrial celestial body,
The solution formula for d v(j) is as follows:
Wherein, G v represents the effectiveness comparison threshold of the speed measurement, and k Gv represents the amplification factor of G v;
k Gv performs adaptive adjustment according to the following strategy: when the number of the velocity measuring beams introduced into the correction is smaller than max (s v -3, 3) in 10 continuous navigation velocity measuring correction periods, k Gv =2.0; setting k Gv as a default value until the number of corrected velocity measuring beams introduced in a certain navigation period is not less than max (s v -3, 3); wherein the default value of k Gv is 1.0;
the solution formula for introducing the number of corrected velocity measuring beams is as follows:
Where m dh represents the number of ranging beams into which the correction is introduced and s v represents the total number of available beams for the tach sensor.
Correspondingly, the invention also discloses a self-adaptive navigation correction system for the landing process of the extraterrestrial celestial body, which comprises the following steps:
the ranging correction module is used for sequentially calculating the height correction quantity corresponding to each wave beam of the ranging sensor, and carrying out weighted fusion processing on the height correction quantity corresponding to each wave beam of the ranging sensor obtained by the calculation to obtain a global height correction quantity; according to the obtained global height correction, adaptively correcting the lander position output by inertial navigation calculation;
The speed measuring correction module is used for sequentially calculating the speed correction quantity of each wave beam of the speed measuring sensor along the wave beam direction, and carrying out three-dimensional synthesis on the speed correction quantity of each wave beam of the speed measuring sensor along the wave beam direction, thus obtaining the global speed correction quantity; and carrying out self-adaptive correction on the lander speed outputted by inertial navigation calculation according to the obtained global speed correction quantity.
The invention has the following advantages:
(1) The invention discloses an adaptive navigation correction scheme in the process of landing an extraterrestrial celestial body, which effectively fuses an output value of inertial navigation (the position and the speed of a lander which are output by inertial navigation calculation) with a measured value of a distance measuring and speed measuring sensor, thereby realizing accurate estimation of the height and the speed of the lander relative to the surface of a Mars.
(2) The invention discloses a self-adaptive navigation correction scheme in the process of landing an extraterrestrial celestial body, which monitors whether an inertial navigation position is biased or not by monitoring the number of ranging beams removed by comparison with the inertial navigation. When the number of the rejected beams is not less than 3 or the number of the beams introducing the ranging correction is less than 3 (namely m dh < max (s-3, 3)) in comparison of the continuous 10 navigation ranging correction periods and the inertial navigation, the inertial navigation position is considered to be biased by the fault ranging beam, and the normal ranging beam cannot introduce the navigation ranging correction. Once the inertial navigation position is detected to be biased by the fault ranging beam, k Gh =2.0 is set, and a fault judgment threshold (k GhGh) for comparing the self-adaptive amplified ranging sensor with the inertial navigation is set, so that the normal ranging beam can still be introduced into ranging correction under the condition that the inertial navigation position is biased by the fault ranging beam. Further, when the number of the eliminated beams compared with the inertial navigation is monitored to be less than 3 and the number of the beams introduced with the ranging correction is not less than 3, k Gh =1.0 is set, the fault judgment threshold (k GhGh) of the ranging sensor compared with the inertial navigation is reduced, the elimination of the small abnormal value of the ranging is realized, and the ranging correction precision is improved.
(3) The invention discloses a self-adaptive navigation correction scheme in the process of landing an extraterrestrial celestial body, which monitors whether inertial navigation speed is biased or not by monitoring the number of velocity measuring beams removed by comparison with inertial navigation. When the number of the rejected beams is not less than 3 or the number of the beams introducing the speed measurement correction is less than 3 (i.e. m dv＜max(sv -3, 3) by comparing the continuous 10 navigation speed measurement correction periods with the inertial navigation, the inertial navigation speed is considered to be deflected by the fault speed measurement beam, and the normal speed measurement beam cannot introduce the navigation speed measurement correction. Once the inertial navigation speed is detected to be biased by the fault velocity measuring beam, a k Gv =2.0 fault judgment threshold value (k GvGv) for comparing the self-adaptive amplification velocity measuring sensor with the inertial navigation is set, so that the normal velocity measuring beam can still be introduced into velocity measuring correction under the condition that the inertial navigation speed is biased by the fault velocity measuring beam, further, when the number of the eliminated beams is less than 3 and the number of the beams for introducing velocity measuring correction is not less than 3, the k Gv =1.0 is set, the fault judgment threshold value (k GvGv) for comparing the velocity measuring sensor with the inertial navigation is reduced, the elimination of small velocity measuring abnormal values is realized, and the velocity measuring correction precision is improved.
Drawings
FIG. 1 is a flow chart of steps of an adaptive navigation correction method for an extraterrestrial celestial body landing process according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating steps of an adaptive navigation correction system for an extraterrestrial celestial body landing process according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention disclosed herein will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, in this embodiment, the adaptive navigation correction method for the extraterrestrial celestial body landing process includes:
step 101, sequentially calculating to obtain the height correction amounts corresponding to the beams of the ranging sensor, and carrying out weighted fusion processing on the height correction amounts corresponding to the beams of the ranging sensor obtained by the calculation to obtain the global height correction amounts.
In this embodiment, the calculation flow of the height correction amount corresponding to each beam of the ranging sensor is as follows:
obtaining the gravitation under the body coordinate system of the inertial navigation calculation output Projection p R(i) of the direction of the i-th beam of the distance-measuring sensor in the body coordinate system, and distance measurement/>, of the i-th beam of the distance-measuring sensor
According toP R(i) and/>Solving to obtain the height/>, relative to the celestial surface, of the lander based on the ith beam of the ranging sensor
According toThe solution obtains the height correction quantity delta h (i) of the ith wave beam of the distance measuring sensor:
Where h ins denotes the height of the lander relative to the celestial surface, which is output by inertial navigation solution, and K h(i) denotes the ranging correction coefficient of the i-th beam of the ranging sensor. Based on the formulas (1) and (2), the height correction quantity corresponding to each wave beam of the ranging sensor can be obtained through calculation in sequence.
Further, the calculation formula of the global height correction δh is as follows:
Where s represents the total number of available beams of the ranging sensor.
Preferably, d h(i) represents the incoming identifier of the ith beam of the ranging sensor, and the solution formula of d h(i) is as follows:
Where G h represents the ranging effectiveness comparison threshold, and k Gh represents the amplification factor of G h.
Preferably, β i represents a ranging correction coefficient of the ith beam of the ranging sensor, and β i and d h(i) satisfy the following relation:
Preferably, k Gh can be adaptively adjusted according to the following strategy: when the number of the ranging beams introduced into the correction is smaller than max (s-3, 3) in 10 continuous navigation ranging correction periods, k Gh =2.0; setting k Gh as a default value until the number of the ranging beams which are introduced and corrected in a certain navigation period is not less than max (s-3, 3); wherein the default value of k Gh is 1.0.
Preferably, the solution formula for introducing the corrected number of ranging beams m dh is as follows:
Step 102, adaptively correcting the lander position output by inertial navigation calculation according to the obtained global altitude correction.
In the present embodiment, the lander position output by inertial navigation solution is acquiredAfter that, the following formula (4) can be used for the pairPerforming adaptive correction to obtain an adaptive corrected lander position r ins:
Step 103, sequentially calculating to obtain the speed correction quantity of each beam of the speed measuring sensor along the beam direction, and performing three-dimensional synthesis on the speed correction quantity of each beam of the speed measuring sensor along the beam direction, so as to obtain the global speed correction quantity.
In this embodiment, the solution flow of the velocity correction of each beam of the velocity measurement sensor along the beam direction is as follows:
Acquiring a component v ins,(j) of a jth wave beam of a ground speed edge speed measuring sensor and a speed measuring value of the jth wave beam of the speed measuring sensor, which are output by inertial navigation calculation
According to v ins,(j) andThe speed correction quantity delta v (j) of the jth wave beam of the tachometer sensor along the wave beam direction is obtained through calculation:
Wherein K v(j) represents a speed measurement correction coefficient of the jth beam of the speed measurement sensor, and d v(j) represents an introduction identifier of the jth beam of the speed measurement sensor. Based on the formula (8), the speed correction quantity of each wave beam of the speed measuring sensor along the wave beam direction can be obtained through calculation in sequence.
Further, global speed correctionThe solution formula of (2) is as follows:
where p V(j) denotes the projection of the jth beam of the tach sensor pointing to under the body coordinate system, j=1, 2, …, s v,sv denotes the total number of available beams of the tach sensor.
Preferably, the solution formula of d v(j) is as follows:
wherein G v represents the effectiveness ratio threshold of the speed measurement, and k Gv represents the amplification factor of G v.
Preferably, k Gv can be adaptively adjusted according to the following strategy: when the number of the velocity measuring beams introduced into the correction is smaller than max (s v -3, 3) in 10 continuous navigation velocity measuring correction periods, k Gv =2.0; setting k Gv as a default value until the number of corrected velocity measuring beams introduced in a certain navigation period is not less than max (s v -3, 3); wherein the default value of k Gv is 1.0.
Preferably, the solution formula for introducing the corrected velocimetry beam number m dh is as follows:
And 104, adaptively correcting the lander speed outputted by inertial navigation calculation according to the obtained global speed correction amount.
In the present embodiment, the lander speed output by inertial navigation solution is obtainedAfter that, the pair/>, can be obtained by the following formula (10)Performing adaptive correction to obtain an adaptive corrected lander speed v ins:
Wherein, Representing the transformation matrix of the body coordinate system to the inertial coordinate system.
Step 105, based on the adaptive correction result of the lander position obtained in step 102 and the adaptive correction result of the lander speed obtained in step 104, accurate estimation of the height and speed of the lander relative to the Mars surface is realized.
In summary, the invention effectively fuses the output value of inertial navigation (the position and the speed of the lander output by the inertial navigation solution) with the measured value of the ranging and speed measuring sensor, thereby realizing the accurate estimation of the height and the speed of the lander relative to the surface of the Mars: the number of the removed beams is used as a variable for on-line monitoring whether the inertial navigation is deflected by a fault beam (the inertial navigation position is deflected by a fault ranging beam and the inertial navigation speed is deflected by a fault velocity measuring beam), and once the inertial navigation is deflected by the fault beam, the threshold value of the inertial navigation comparison (the fault judgment threshold value of the ranging sensor and the inertial navigation comparison and the fault judgment threshold value of the velocity measuring sensor and the inertial navigation comparison) is adaptively amplified. When the fact that inertial navigation is not biased by the fault beam is detected, the threshold value of inertial navigation comparison is reduced, the small abnormal value of ranging and speed measurement is removed, the problem that the normal beam cannot be guided into navigation ranging and speed measurement correction after the fault beam is guided into under large dynamic conditions is avoided, and the fault tolerance of a ranging and speed measurement correction navigation algorithm is effectively improved.
On the basis of the above embodiment, as shown in fig. 2, the embodiment of the invention also discloses an adaptive navigation correction system for an extraterrestrial celestial body landing process, which comprises: the ranging correction module 201 is configured to sequentially calculate to obtain height corrections corresponding to each beam of the ranging sensor, and perform weighted fusion processing on the height corrections corresponding to each beam of the ranging sensor obtained by the calculation to obtain a global height correction; and carrying out self-adaptive correction on the lander position output by inertial navigation calculation according to the obtained global height correction quantity. The speed measurement correction module 202 is configured to sequentially calculate the speed correction amounts of each beam of the speed measurement sensor along the beam direction, and perform three-dimensional synthesis on the speed correction amounts of each beam of the speed measurement sensor along the beam direction, so as to obtain a global speed correction amount; and carrying out self-adaptive correction on the lander speed outputted by inertial navigation calculation according to the obtained global speed correction quantity. The estimation module 203 is used for realizing accurate estimation of the height and the speed of the lander relative to the Mars surface based on the lander position self-adaptive correction result obtained by the ranging correction module 201 and the lander speed self-adaptive correction result obtained by the speed measurement correction module 202.
For the system embodiment, since it corresponds to the method embodiment, the description is relatively simple, and the relevant points are referred to the description of the method embodiment section.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
What is not described in detail in the present specification belongs to the known technology of those skilled in the art.
Claims (4)
1. An adaptive navigation correction method for an extraterrestrial celestial body landing process is characterized by comprising the following steps:
sequentially calculating to obtain the height correction quantity corresponding to each wave beam of the ranging sensor, and carrying out weighted fusion processing on the height correction quantity corresponding to each wave beam of the ranging sensor obtained by calculation to obtain the global height correction quantity; according to the obtained global height correction, adaptively correcting the lander position output by inertial navigation calculation;
Sequentially calculating to obtain the speed correction quantity of each wave beam of the speed measuring sensor along the wave beam direction, and performing three-dimensional synthesis on the speed correction quantity of each wave beam of the speed measuring sensor along the wave beam direction, so as to obtain the global speed correction quantity; according to the obtained global speed correction, adaptively correcting the lander speed outputted by inertial navigation calculation;
Sequentially calculating to obtain the height correction quantity corresponding to each wave beam of the ranging sensor, wherein the method comprises the following steps:
obtaining the gravitation under the body coordinate system of the inertial navigation calculation output Projection p R(i) of the direction of the i-th beam of the distance-measuring sensor in the body coordinate system, and distance measurement/>, of the i-th beam of the distance-measuring sensor
According toP R(i) and/>Resolving to obtain/>
Wherein,Representing the altitude of the lander relative to the celestial surface based on the ith beam of the ranging sensor;
According to The solution obtains the height correction quantity delta h (i) of the ith wave beam of the distance measuring sensor:
Wherein h ins represents the height of the lander relative to the celestial body surface output by inertial navigation solution, and K h(i) represents the ranging correction coefficient of the ith beam of the ranging sensor;
based on formulas (1) and (2), sequentially calculating to obtain the height correction quantity corresponding to each wave beam of the ranging sensor;
the calculation formula of the global height correction is as follows:
Where δh represents the global height correction, s represents the total number of available beams of the ranging sensor, β i represents the ranging correction coefficient of the i-th beam of the ranging sensor, d h(i) represents the introduction identifier of the i-th beam of the ranging sensor;
The solution formula for d h(i) is as follows:
Wherein G h represents a ranging effectiveness comparison threshold, and k Gh represents an amplification factor of G h;
the solution formula for β i is as follows:
k Gh performs adaptive adjustment according to the following strategy: when the number of the ranging beams introduced into the correction is smaller than max (s-3, 3) in 10 continuous navigation ranging correction periods, k Gh =2.0; setting k Gh as a default value until the number of the ranging beams which are introduced and corrected in a certain navigation period is not less than max (s-3, 3); wherein the default value of k Gh is 1.0;
The solution formula for introducing the modified number of ranging beams is as follows:
wherein m dh represents the number of ranging beams into which the correction is introduced;
Sequentially calculating to obtain the speed correction quantity of each wave beam of the speed measuring sensor along the wave beam direction, wherein the speed correction quantity comprises the following steps:
Acquiring a component v ins,(j) of a jth wave beam of a ground speed edge speed measuring sensor and a speed measuring value of the jth wave beam of the speed measuring sensor, which are output by inertial navigation calculation
According to v ins,(j) andResolving to obtain δv (j):
Wherein δv (j) represents the speed correction amount of the jth beam of the tachometer sensor along the beam direction, K v(j) represents the tachometer correction coefficient of the jth beam of the tachometer sensor, and d v(j) represents the introduction identifier of the jth beam of the tachometer sensor;
based on the formula (8), sequentially calculating to obtain the speed correction quantity of each wave beam of the speed measuring sensor along the wave beam direction;
the calculation formula of the global speed correction is as follows:
Wherein, Representing global velocity correction, p V(j) representing projection of the jth beam of the tach sensor pointing to under the body coordinate system, j=1, 2, …, s v,sv representing the total number of available beams of the tach sensor;
the solution formula for d v(j) is as follows:
Wherein, G v represents the effectiveness comparison threshold of the speed measurement, and k Gv represents the amplification factor of G v;
k Gv performs adaptive adjustment according to the following strategy: when the number of the velocity measuring beams introduced into the correction is smaller than max (s v -3, 3) in 10 continuous navigation velocity measuring correction periods, k Gv =2.0; setting k Gv as a default value until the number of corrected velocity measuring beams introduced in a certain navigation period is not less than max (s v -3, 3); wherein the default value of k Gv is 1.0;
the solution formula for introducing the number of corrected velocity measuring beams is as follows:
Where m dh represents the number of ranging beams into which the correction is introduced and s v represents the total number of available beams for the tach sensor.
2. The method for adaptive navigation correction of an extraterrestrial celestial body landing process according to claim 1, wherein adaptively correcting the lander position output by the inertial navigation solution according to the obtained global altitude correction amount, comprises: obtaining lander position output from inertial navigation solution
By the following formula (4)Performing adaptive correction to obtain the lander position after the adaptive correction:
Where r ins denotes the adaptive corrected lander position.
3. The method for adaptive navigation correction of an extraterrestrial celestial body landing process according to claim 1, wherein adaptively correcting the lander speed output from the inertial navigation solution according to the obtained global speed correction amount, comprises:
obtaining lander velocity output from inertial navigation solution
By the following formula (10)Performing adaptive correction to obtain the lander speed after the adaptive correction:
Where v ins denotes the adaptive corrected lander speed, Representing the transformation matrix of the body coordinate system to the inertial coordinate system.
4. An extraterrestrial celestial body landing process adaptive navigation correction system for use in the extraterrestrial celestial body landing process adaptive navigation correction method of claim 1, comprising:
the ranging correction module is used for sequentially calculating the height correction quantity corresponding to each wave beam of the ranging sensor, and carrying out weighted fusion processing on the height correction quantity corresponding to each wave beam of the ranging sensor obtained by the calculation to obtain a global height correction quantity; according to the obtained global height correction, adaptively correcting the lander position output by inertial navigation calculation;
The speed measuring correction module is used for sequentially calculating the speed correction quantity of each wave beam of the speed measuring sensor along the wave beam direction, and carrying out three-dimensional synthesis on the speed correction quantity of each wave beam of the speed measuring sensor along the wave beam direction, thus obtaining the global speed correction quantity; and carrying out self-adaptive correction on the lander speed outputted by inertial navigation calculation according to the obtained global speed correction quantity.
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