宇航学报

宇航学报 ›› 2021, Vol. 42 ›› Issue (2): 192-201.doi: 10.3873/j.issn.1000-1328.2021.02.007

• 制导、导航、控制与电子 • 上一篇    下一篇

行星着陆自主导航地形特征综合优化方法

朱圣英，高锡珍，崔平远，姚文龙   

  1. 1. 北京理工大学宇航学院，北京 100081；2. 深空自主导航与控制工信部重点实验室，北京 100081；3. 北京控制工程研究所，北京 100190
  • 收稿日期:2020-07-10 修回日期:2020-10-08 出版日期:2021-02-15 发布日期:2021-02-15
  • 基金资助:
    国家重点研发计划（2019YFA0706500）；国家自然科学基金（61873302，61973032）；基础科研（JCKY2018602B002，JCKY2019 602D022）；民用航天预研项目

Integrated Optimization of Navigation Features for Planetary Landing

ZHU Sheng ying, GAO Xi zhen, CUI Ping yuan, YAO Wen long   

  1. 1. School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China;2. Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration, Ministry of Industry and Information Technology, Beijing 100081, China; 3. Beijing Institute of Control Engineering, Beijing 100190, China

  • Received:2020-07-10 Revised:2020-10-08 Online:2021-02-15 Published:2021-02-15

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摘要： 针对行星着陆光学导航方案优化问题，提出了一种基于可观测度的导航地形特征综合优化方法。该方法首先利用星表形貌图像信息建立不同几何特性特征的测量方程，基于可观测度矩阵和Fisher信息矩阵分析导航系统的可观测度和估计误差下限，揭示特征位置和数量与导航系统性能间的关系，在此基础上以导航系统可观测度和估计误差下限为评价指标分别对随机分布导航地形特征点，直线和曲线进行优化选取，最后综合对比分析了利用不同特征点，直线和曲线对导航方案性能的影响，并通过仿真验证了相关结论。

关键词: 行星着陆, 自主导航；特征优化；可观测度分析；Fisher信息阵

Abstract: Aiming at the optimization of optical navigation scheme for planetary landing, this paper proposes an integrated optimization method based on observability. Firstly, the measurement equations of different geometric characteristics are established by using the image information of landmarks. Based on the observability matrix and Fisher information matrix, the observability and the lower limit of estimation error of navigation system are analyzed, and the relationship between the location and quantity of characteristics and the performance of navigation system is revealed. Then, the observability and the lower limit of estimation error of navigation system are used as the evaluation indexes respectively.At last, the influence of different feature points, lines and curves on the performance of navigation scheme is analyzed, and the relevant conclusions are verified by simulation.

Key words: Planetary landing, Autonomous navigation, Feature optimization, Observability analysis, Fisher information matrix

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