CAJ | 학술논문

针对基于 X 射线脉冲星观测的火星探测器自主导航，研究了几种不同的实时自适应方法，包括：扩展卡尔曼滤波（EKF），自适应扩展卡尔曼滤波（AEKF）和鲁棒自适应扩展滤波（RAEKF）。首先根据脉冲星导航原理，模拟了观测值：脉冲到达时刻；接着，分别利用扩展卡尔曼滤波，自适应扩展卡尔曼滤波和鲁棒自适应扩展滤波方法估算出探测器的位置和速度；最后，上述几种滤波轨道与 STK 模拟的标称轨道较差，然后比较它们的滤波精度发现：AEKF 和 RAEKF 的精度相对较高，AEKF 的三个轴向滤波位置精度达到：X 轴优于100 m、Y 和 Z 轴优于30 m，优于 VLBI 技术的 km 量级，和 Doppler 技术的精度相当。
침대기우 X 사선맥충성관측적화성탐측기자주도항，연구료궤충불동적실시자괄응방법，포괄：확전잡이만려파（EKF），자괄응확전잡이만려파（AEKF）화로봉자괄응확전려파（RAEKF）。수선근거맥충성도항원리，모의료관측치：맥충도체시각；접착，분별이용확전잡이만려파，자괄응확전잡이만려파화로봉자괄응확전려파방법고산출탐측기적위치화속도；최후，상술궤충려파궤도여 STK 모의적표칭궤도교차，연후비교타문적려파정도발현：AEKF 화 RAEKF 적정도상대교고，AEKF 적삼개축향려파위치정도체도：X 축우우100 m、Y 화 Z 축우우30 m，우우 VLBI 기술적 km 량급，화 Doppler 기술적정도상당。
To investigate the autonomous navigation of probe orbiting the Mars orbit X-ray pulsars,different real-time adjustment methods are applied in this paper,including the extended Kalman filter (EKF),adaptive extended Kalman filter (AEKF)and robust adaptive extended Kalman filter (RAEKF).Firstly,the observation data,i.e.,time of arrival,is simulated according to the principles of pulsars navigation.Secondly,extended Kalman filter (EKF),adaptive extended Kalman filter (AEKF) and robust adaptive extended Kalman filter (RAEKF)are used to get the position and velocity of the probe.Thirdly,the adjustment results are compared with the orbit generated by STK,the results show AEKF and RAEKF performs better than EKF,the result of AEKF is better than the km level of VLBI and can reach the precision level of triple pass Doppler,leveling at 94.1 m in X-axis,19.5 m in Y-axis and 22.3 m in Z-axis.