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脉冲星导航可靠、稳定、精度高,是实现火星探测器自主导航的有效手段之一.针对脉冲星导航中脉冲到达时间的微小误差会引起巨大的位置估计误差这一问题,提出了一种基于扩维Unsented卡尔曼滤波(ASUKF,Augmented State Unscented Kalman Filter)的火星探测器脉冲星自主导航方法,建立了以位置、速度和脉冲到达时间的常值测量误差作为状态量的导航系统数学模型,可在对探测器位置、速度进行估计的同时有效估计并修正脉冲到达时间的常值测量误差,并降低随机测量误差的影响.仿真结果表明该方法的导航定位精度可达350 m以内,可以满足火星探测自主导航的需要.
Pulsar navigation is reliable, stable and has high precision, which is one of the most effective means to realize autonomous navigation of Mars rover.Aiming at the problem that the tiny error of pulse arrival time in Pulsar navigation can cause huge position estimation error, In this paper, a maneuvering system of satellite probe augmented with augmented unscented Kalman filter (ASUKF) is established. The mathematical model of the navigation system is established based on the measurement error of the position, velocity and pulse arrival time as the state variables. This method can effectively estimate and correct the measurement error of the pulse arrival time and reduce the influence of the random measurement error while estimating the position and velocity of the detector.The simulation results show that the method can achieve the accuracy of navigation and positioning up to 350 m, Detect the need for autonomous navigation.