Research on Robust Navigation Algorithm for Soft Landing of Small Celestial Body
Menglong Cao, Xiaoyu Wang, Mengge Shi, Yue Gao · 2021 4th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM) · 2021
Based on the application background of autonomous navigation for soft landing of small celestial bodies, this paper proposes a robust navigation algorithm for the difficult problems of soft landing of small celestial bodies with strong uncertainty and high requirements for the accuracy and real-time performance of autonomous navigation algorithms. Small celestial bodies are far away from the earth, and the observation information is insufficient. It is difficult to establish an accurate gravitational field model. The robust navigation algorithm integrates optical navigation information and inertial navigation information to improve the accuracy and robustness of the navigation system. Experimental results show that the algorithm can reduce the impact of model uncertainty, effectively improve the accuracy of navigation and positioning, and provide a feasible method for the soft landing of the probe on the surface of small celestial bodies.