摘要
以深空着陆任务为背景,针对视觉导航过程中由于有限观测能力引起的估计性能不佳问题,研究了一种深空着陆器对偶控制策略.该策略将导航估计不确定性引入系统状态,给出包含与估计方差相关的二次型性能指标评价方法,利用着陆状态可观测性与着陆轨迹之间的耦合特性,合理优化观测轨迹,克服着陆过程中可观测性缺乏问题,大幅度提高系统的导航估计性能,使深空着陆器导航制导控制整体性能得到保障.
For landing on planet, a dual control strategy is developed to solve the problem of poor estimation performance which results from the lack of observability. The system uncertainty is incorporated into the quadratic performance index as a cost by extending state space, which takes advantage of the nonlinear coupling between observability and trajectory to overcome the lack of observability and to achieve better estimation performance. By stochastic optimizing the landing trajectory, the overall performance of GNC system for landing on planets is improved.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2012年第11期75-80,共6页
Journal of Harbin Institute of Technology
基金
国家自然科学基金资助项目(60874094)
国家高技术研究发展计划资助项目(2010AA122206)
关键词
深空探测软着陆
自主GNC技术
非线性耦合
对偶控制
soft landing for deep space exploration
autonomous GNC technology
nonlinear coupling
dual control
