火星精确着陆自主导航策略与鲁棒估计方法研究

The project is based on technical needs for the autonomous navigation and guidance for Chinese future major missions of precision landing on Mars. The basic theory of the optimization design of autonomous navigation and the robust state estimation for Mars landing exploration are investigated. Meanwhile, the difficulties in the theory and realization of autonomous navigation for Mars landing exploration are solved, and the principle validation is conducted. The framework of autonomous navigation theory and method that can support Chinese major missions of Mars exploration is founded through the cross identification and supplementary of theoretical analysis, mathematical simulation, and ground-based experiment. Meanwhile, a fundamental base of the theory and method for the development of Chinese future autonomous navigation and guidance system as well as the verification on board can be laid. By researching deeply on the theory of high accuracy autonomous navigation for Mars landing exploration and the analysis method of observability and the optimization for navigation strategy based on limited information, the optimization method of navigation system based on the complete estimation of states parameters with limited observations, and the observability analysis method for nolinear navigation system as well as the precision robust estimation method are proposed. Finally, the optimization strategy of autonomous navigation based on complex constrains is developed. The key issues to be solved include: accurate estimation of state parameters based on limited information and the optimization design method of navigation scheme with complex constraints.

以我国未来火星着陆探测重大工程任务对着陆器自主导航与制导的技术需求为背景，研究火星着陆器自主导航系统优化设计与状态鲁棒估计的基础理论方法，解决火星着陆器高精度自主导航系统所面临的实现难题，并进行原理性验证。通过理论分析、数学仿真和地面实验的相互引证和补充，形成一个支持我国火星着陆探测重大工程任务急需的自主导航理论方法体系框架，为未来我国火星着陆器自主导航与制导系统的研制和飞行验证奠定理论和方法基础。通过对火星着陆器高精度自主导航理论方法、基于有限观测信息的导航策略优化及可观测性分析等的深入研究，提出有限观测信息条件下状态与参数完备估计的导航系统优化设计方法、非线性自主导航系统可观测性分析方法及高精度鲁棒估计方法，形成基于复杂约束的火星着陆探测自主导航系统优化方案。重点解决的关键问题包括：有限信息下的状态参数高精度估计、复杂约束条件下导航方案优化设计等。

本项目以我国未来火星着陆探测重大工程任务对着陆器自主导航与制导的技术需求为背景，研究火星着陆器自主导航与制导的基础理论问题，解决火星着陆器自主导航与制导所面临的理论与实现难题。通过对火星着陆探测器自主导航与制导基础理论与方法的深入研究，建立了火星着陆探测器非线性导航系统可观测性分析理论和自主导航实现方案；提出了在观测信息有限条件下的导航策略和优化设计方法、火星精确着陆的高精度自主导航方法；分析了各种扰动对导航精度的影响机理，提出了探测器状态联合抗扰鲁棒估计与制导理论方法，研制了火星精确着陆自主导航仿真系统，并进行了原理性验证。通过理论分析、数学仿真和地面实验的相互引证和补充，形成了一个支持我国火星着陆探测重大工程任务急需的自主导航与制导理论体系框架，为未来我国火星着陆器自主导航与制导系统的研制和飞行验证奠定了理论和方法基础。.项目成果已应用于我国2030年前我国深空探测发展规划论证、火星探测任务方案论证与设计、火星探测器自主导航与控制方案论证与设计等，起到了重要的技术支撑作用，相关理论方法研究达到国际领先水平。项目研究成果在国内外著名期刊及会议上发表论文近40篇，其中SCI/EI论文30余篇，申请发明专利22件（获授权11件），出版专著1部，获国防科技进步一等奖1项。.项目按计划完成了预期研究内容，达到了预期研究目标，获得了预期研究成果，可对我国未来的火星探测等深空探测任务提供理论方法支撑。