基于IMU/FADS/无线电的火星上升器组合导航方案

以火星采样返回任务中火星表面上升为背景，研究了基于惯性测量单元（Inertial Measurement Unit, IMU）、嵌入式大气数据传感系统（Flush Air Data Sensing System, FADS）和无线电信标的组合导航方法。首先，在传统的IMU导航框架中加入由无线电测量获得的相对距离、速度信息，以及由FADS获取的动压、温度数据，建立了基于IMU、无线电和FADS的导航观测模型；然后，基于无迹卡尔曼滤波（Unscented Kalman Filter, UKF）技术对测量信息进行了融合，并压制了过程噪声和测量噪声，从而对上升器的状态进行了联合估计；最后，在数值仿真中，将UKF与自适应无迹卡尔曼滤波（Adaptive Unscented Kalman Filter, AUKF）技术进行了对比，在比较不同滤波器性能的同时，验证了组合导航方法的有效性。

Radio/FADS/IMU Based Integrated Navigation Scheme for Mars Ascent Vehicle

To perform the high-precision Martian ascent navigation for Mars ascent vehicle (MAV) in a Mars sample return mission, an integrated navigation method is proposed by using inertial measurement unit (IMU), flush air data sensing system (FADS) and radio beacon. Firstly, the relative range and velocity obtained by radio measurement, as well as the dynamic pressure and temperature data sensed by FADS are supplemented to the classical IMU navigation framework to establish the measurement dynamics. Then the unscented Kalman filter (UKF) is utilized to perform the state estimation and the noise suppression. Finally, the effectiveness of the integrated navigation method is verified through the numerical simulation, and performances of UKF and adaptive unscented Kalman filter (AUKF) are compared as well.