考虑导航误差的火星探测器动力下降段鲁棒轨迹优化  

Robust trajectory optimization for Mars lander powered descent considering navigation errors

作　　者：高多志 龚有敏 郭延宁[1] 李传江[1] 马广富[1,2] GAO DuoZhi;GONG YouMin;GUO YanNing;LI ChuanJiang;MA GuangFu(School of Astronautics,Harbin Institute of Technology,Harbin 150001,China;School of Mechatronics Engineering and Automation,Harbin Institute of Technology(Shenzhen),Shenzhen 518055,China)

机构地区：[1]哈尔滨工业大学航天学院,哈尔滨150001 [2]哈尔滨工业大学(深圳)机电工程与自动化学院,深圳518055

出　　处：《中国科学:物理学、力学、天文学》2025年第2期170-182,共13页Scientia Sinica Physica,Mechanica & Astronomica

基　　金：国防基础研究项目(编号:JCKY2021603B030)资助。

摘　　要：针对火星探测器动力下降段过程中依赖的自主导航设备存在有界测量误差的问题,本文提出了一种基于凸优化的鲁棒轨迹优化算法.首先,对传统的基于凸优化的轨迹优化方法进行改进修正,建立基于序列凸优化的快速、精确求解方法.然后,分别对高度、位置和速度存在导航误差的情况进行建模和分析,并给出不同情况对应的修正斜坡约束.接着,分别提出针对位置和速度误差的鲁棒轨迹求解算法.最后,通过仿真案例对提出的改进凸优化算法和鲁棒轨迹优化算法进行了验证,结果表明所得的解具有准确性和鲁棒性.To address the issue of bounded measurement errors in autonomous navigation devices used during the descent phase ofMars lander, this study proposes a robust trajectory optimization algorithm based on convex optimization. First, thetraditional convex optimization-based trajectory optimization method is improved and modified, and a fast and accuratesolution method based on sequential convex optimization is established. Then, models and analyses are conducted fornavigation errors in altitude, position, and velocity, and modified slope constraints corresponding to different scenariosare provided. Subsequently, robust trajectory-solving algorithms targeting position and velocity errors are proposed.Finally, the proposed improved convex optimization algorithm and robust trajectory optimization algorithm are validatedthrough simulation cases, and the results demonstrate the accuracy and robustness of the solutions obtained.

关 键 词：火星探测 导航误差 动力下降段 凸优化 鲁棒轨迹优化 

分 类 号：V476.4[航空宇航科学与技术—飞行器设计] V448.2