摘要
针对深空探测器资源严重受限、难以实现多源异构数据融合自主导航的问题,提出了基于观测能力定量表征的多源融合自适应滤波方法。通过构建一种变通道自适应融合结构,基于系统观测能力解析量化准则,在线评价各敏感器滤波通道子系统的可观测度,灵活配置并动态调整信源通道数量和权重,实现了适用于深空探测器自主运行的多源异构信息自适应融合。与传统的前融合结构相比,通过滤波器结构随测量数据可观测度的变化而动态调整,既解决了异构信息时空配准的计算负担,又可避免单个敏感器或子系统性能退化对融合精度的影响,最大限度地降低了滤波器结构的复杂度与冗余度。通过数学仿真,验证了本方法在远距离接近段和近距离着陆段导航过程中,与传统融合方法的导航精度基本相同,但由于能自适应优选测量数据与滤波结构使得计算量明显降低,可为深空探测自主导航提供理论技术支撑。
A multi-source fusion adaptive filtering method based on the quantitative characterization of observability was proposed to address the problem of severe resource constraints of deep space probes and the difficulty of realizing autonomous navigation with multi-source heterogeneous data fusion.By constructing a variable-channel adaptive fusion structure,evaluating the observability degrees of the filter channel subsystems of each sensitizer on-line based on the quantitative characterization of system observability analysis,and flexibly configuring and dynamically adjusting the number of channels and weights of the source channels,adaptive fusion of multi-source heterogeneous information for autonomous operation of deep space probes was realized.Compared with the traditional pre-fusion structure,the dynamic adjustment of the filter structure with the change of the observability degrees of the measurement data not only solves the computational burden of the spatial-temporal alignment of heterogeneous information,but also avoids the influence of the degradation of the performance of a single sensitizer or subsystem on the fusion accuracy,and minimizes the complexity and redundancy of the filter structure.Through mathematical simulations,it has been verified that in the navigation processes of the long-distance approaching phase and the close-range landing phase,this method has basically the same navigation accuracy as traditional fusion methods.However,due to its ability to adaptively optimize the selection of measurement data and the filtering structure,the computational load is significantly reduced.This method can provide theoretical and technical support for autonomous navigation in deep space exploration.
作者
李嘉兴
王大轶
侯博文
邓润然
董天舒
符方舟
LI Jiaxing;WANG Dayi;HOU Bowen;DENG Runran;DONG Tianshu;FU Fangzhou(Beijing Institute of Spacecraft System Engineering,Beijing 100094,China;College of Sciences,National University of Defense Technology,Changsha 410073,China;College of Aeronautics and Astronautics,Sun Yat-sen University,Shenzhen 518107,China)
出处
《深空探测学报(中英文)》
北大核心
2025年第2期153-161,共9页
Journal Of Deep Space Exploration
基金
国家重点研发计划项目(2019YFA0706500)
国家自然科学基金(U20B2055,61525301)。
关键词
观测能力
多源融合
自主导航
自适应滤波
observability
multi-source fusion
autonomous navigation
adaptive filtering
作者简介
李嘉兴(1994-),男,博士,工程师,主要研究方向:基于序列图像的自主导航。通信地址:北京市海淀区友谊路104号(100094),E-mail:lijiaxing_cast@163.com;通信作者:王大轶(1973-),男,研究员,博士生导师,主要研究方向:航天器自主制导、导航与控制、控制系统故障可诊断性/可重构性评价与设计等。通信地址:北京5142信箱56分箱(100094),E-mail:dayiwang@163.com。
