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利用X射线脉冲星观测量不仅能够为深空探测器提供稳定可靠的位置、速度和姿态信息,还能够对探测器上的原子钟进行长期误差校正。火星探测任务中,存在探测器飞行时间长,钟差随时间累积严重降低脉冲星自主定位系统的精度等问题。针对此,提出了一种环火探测器同步定位和授时方法,对钟差进行建模,将钟差模型参数纳入到滤波系统中,利用自适应扩展卡尔曼滤波器同时计算探测器的位置、速度和钟差模型参数。仿真实验表明,经滤波校正后的钟差保持在300ns以内,探测器的位置和速度精度分别优于200m和0.03m/s,精度得到明显改善。
The use of X-ray pulsar observations not only provides stable, reliable position, velocity, and attitude information for deep space probes, but also enables long-term error correction of atomic clocks on the detector. In the mission of Mars exploration, there are some problems such as the long flight time of the detector, the serious error of the Pulsar autonomous positioning system due to the serious clock skew over time. In view of this, a method of synchronizing positioning and timing of ring fire detectors is proposed. The clock errors are modeled, and the parameters of the clock error model are incorporated into the filtering system. The position of the detectors is also calculated by using the adaptive extended Kalman filter, Speed and clock model parameters. Simulation results show that the accuracy of the detector is better than 200m and 0.03m / s, respectively.