基于稀疏扩展混合滤波的信标辅助月面着陆导航方法  

A beacon-supported navigation scheme based on sparse extended hybrid filter for lunar landing

作　　者：李云天 穆荣军[1] 单永志[1,2] 崔乃刚 LI Yuntian;MU Rongjun;SHAN Yongzhi;CUI Naigang(School of Astronautics,Harbin Institute of Technology,Harbin 150001,China;Aviation Ammunition Institute,NORINCO Group,Harbin 150001,China)

机构地区：[1]哈尔滨工业大学航天学院,哈尔滨150001 [2]中国兵器工业集团航空弹药研究院,哈尔滨150001

出　　处：《中国惯性技术学报》2020年第6期748-754,共7页Journal of Chinese Inertial Technology

基　　金：载人航天预先研究项目(060201)。

摘　　要：针对月面着陆信标辅助导航中存在的信标位置不确定问题,提出了一种基于稀疏扩展混合滤波(SEHF)的信标辅助导航方法。首先采用稀疏扩展信息滤波(SEIF)进行量测更新过程,实现对着陆器当前位置、速度及月面信标位置的联合估计。在此基础上,进一步采用"均值矢量+信息矩阵"的混合形式进行状态预测过程,以提高算法在异步量测下的计算效率。仿真结果表明,所提出方法的收敛速度和估计精度均优于传统扩展卡尔曼滤波(EKF),且相较于原始SEIF可缩短16%左右的计算耗时;此外,当信标位置存在150 m (1σ)初始误差时,所提出方法的着陆点位置估计优于50 m (CEP)。A beacon-supported navigation scheme based on sparse extended hybrid filter(SEHF) is proposed for the uncertainty of beacon locations in the beacon-supported navigation for lunar landing.In order to achieve the joint estimation of the current position,velocity of the lander as well as the position of lunar surface beacons,sparse extended information filter is adopted in the measurement update stage.Then,the state prediction stage is modified with a hybrid form consist of "mean vector and information matrix" to improve the calculation efficiency under the asynchronous measurements.The simulation results show that the proposed method is superior to EKF both in the convergence rate and estimation accuracy,and the computational time can be shortened by about 16% compared with the original SEIF.In addition,when the initial error of the beacon position is 150 m(1σ),the proposed method is better than 50 m(CEP) in the estimation of the landing position.

关 键 词：无线电信标 稀疏扩展信息滤波 组合导航 月面着陆 

分 类 号：TN967.2[电子电信—信号与信息处理]