CN106679675A - Mars final approaching section autonomous navigation method based on relative measurement information - Google Patents
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Abstract
The invention discloses a Mars final approaching section autonomous navigation method based on relative measurement information, and belongs to the technical field of deep space exploration. For achieving Mars final approaching section autonomous navigation, a final approaching and surrounding dynamic model is established. According to differential information of X-ray pulsar arrival time and Doppler velocity measurement information of a Mars orbiter, based on nonlinear filtering algorithm, the states of an approaching detector and the Mars orbiter undergo joint estimation, absolute navigation is achieved through utilization of two kinds of relative measurement information including the differential information of X-ray pulsar arrival time and the Doppler velocity measurement information of the Mars orbiter, and the accuracy of Mars final approaching section autonomous navigation and the accuracy of entry point state estimation are improved. The method has the following advantages: introduction of a planet ephemeris error is avoided, the adverse effect on navigation performance due to nondeterminacy of pulsar parameters is limited, the problem of state divergence resulting from long observation time of pulsars is overcome, the navigation performance of two detectors is improved at the same time, and the navigation filter accuracy and the convergence speed are increased.
Description
Technical field
The present invention relates to a kind of final Approach phase autonomous navigation method of Mars, belong to field of deep space exploration.
Background technology
Accuracy technology (in the range of landing precision 100m) disclosure satisfy that detector landing has scientific research in martian surface
The preset location of value or safe landing have obtained extensive concern in recent years in mission requirements such as complex topographic territories.Into
The landing precision for declining (EDL) system of landing is influenceed by four principal elements, including：Into the delivering error at interface, into boundary
The cognition uncertainty in face, environmental uncertainty and detector self performance (transfer ability etc.).It is new that air enters guidance etc.
The utilization of technology can to a certain extent eliminate the adverse effect that inlet point delivering error and environmental uncertainty are caused, and visit
On the premise of survey device proper property is certain, the position of inlet point and the cognitive uncertainty of speed have weight to final landing precision
Influence.The navigation performance of the final Approach phase of Mars directly determines precision of state estimation of the detector at inlet point, to rear
The navigation in continuous EDL stages, guidance are most important, and influence the final landing error of detector.Therefore, the final Approach phase of Mars is led
Boat is to improving inlet point precision of state estimation and realizing that the target of task accuracy is significant.
In conventional mars exploration task, detector carries out track using the tracking measurement and control network on ground mostly in Approach phase
It is determined that, but there is many limitations such as signal attenuation, communication delay in this navigation mode.With constantly carrying for Future direction requirement
Rise, high accuracy, do not rely on ground autonomous navigation technology be survey of deep space technology development trend.NASA (NASA)
The concept of spark arrester netting is successively proposed with European Space Agency (ESA), it is contemplated that the trunk network being made up of orbiter, orbital vehicle is set up near Mars
Network, for proximity detector, lander and rover provide navigator fix and Communication of Support Services.But to based on orbiter, orbital vehicle
For radionavigation, the position of orbiter, orbital vehicle and velocity error are the significant error sources in proximity detector definitely navigation, and
Under disome dynamics environment, cannot ensure that the complete of whole autonomous navigation system can merely with tracking observation information between the stars such as range finding
See.
X-ray pulsar belongs to the neutron star of high speed rotation, magnetic pole wave beam is constantly radiated in rotary course, when wave beam is swept
Cross during installed in ground or spaceborne detecting devices, detecting devices can receive continuous pulse signal, because it has
Extremely stable periodicity, a kind of X-ray pulsar new feasible way for Spacecraft Autonomous Navigation is provided.In recent years, one
Plant the new autonomous navigation method based on X-ray pulsar and rely on its independence high and robustness, obtain extensive concern.Successively
There is scholar to propose the independent navigation that Mars probes are carried out using X-ray pulsar；Using X-ray pulsar combination Doppler
The information that tests the speed improves detector and enters precision of state estimation etc..However, being navigated in the absolute measurements using pulsar
During, planet ephemeris error is inevitably introduced during State Transferring.Meanwhile, the intrinsic parameter of X-ray pulsar (away from
From, azimuth etc.) can also influence be produced on navigation results.
The content of the invention
The final Approach phase autonomous navigation method of a kind of Mars based on relative measurement information disclosed by the invention, to be solved
Technical problem is to improve the precision of the final Approach phase independent navigation of Mars.
The present invention is achieved through the following technical solutions：
The final Approach phase autonomous navigation method of a kind of Mars based on relative measurement information disclosed by the invention, to realize fire
The final Approach phase independent navigation of star, sets up final close to and around kinetic model；With reference to X-ray pulsar arrival time difference
The Doppler range rate measurement information of information and Mars orbiter, orbital vehicle, based on nonlinear filtering algorithm, to proximity detector and Mars orbiter, orbital vehicle
State carry out Combined estimator, using X-ray pulsar arrival time difference information and Mars orbiter, orbital vehicle Doppler range rate measurement believe
Two kinds of relative measurement information realizations of breath definitely navigate, and the precision for improving the final Approach phase independent navigation of Mars is estimated with into dotted state
Meter precision.
The final Approach phase autonomous navigation method of a kind of Mars based on relative measurement information disclosed by the invention, including it is as follows
Step：
Step 1：Mars is set up finally close to and around kinetic model.
The final Approach phase of Mars and circular section navigation system kinetic model are set up under Mars centered inertial coordinate system.Ten
Two-dimensional state vector includes the position of the Mars proximity detector represented with subscript s and velocity vector and the fire represented with subscript o
The position of star orbital logos and utensils and velocity vector, are designated as
Wherein rs=[rx,s ry,s rz,s]T,vs=[vx,s vy,s vz,s]T；
Wherein ro=[rx,o ry,o rz,o]T,vo=[vx,o vy,o vz,o]T。
Using J2Disome kinetics equation under disturbance carries out state recursion as system dynamics model, that is, complete to set up
Mars is finally close and around kinetic model, is designated as
Wherein f (x)=[fT(xs) fT(xo)]T,
μ is Mars gravitational constant, RMIt is Mars mean radius, J2It is the second order band spherical harmonic coefficient of Mars, riIt is vectorial ri's
Mould, w is set to irrelevant process noise, it then follows the statistical property shown in formula (3).
E (w)=0, E (wwT)=Q (3)
Q is process noise covariance matrix.
It is preferred that setting up the final Approach phase of Mars under J2000 Mars centered inertial coordinate systems and around section navigation system power
Learn model.
Step 2：Mars is set up finally close to and around independent navigation measurement model.
Mars is finally close and includes X-ray pulsar arrival time difference information measurement around independent navigation measurement model
Model and the doppler velocity measurement model based on Mars orbiter, orbital vehicle.
For single detector, after X-ray pulse is received, it is carried out with solar system barycenter nominal contour
Contrast, you can obtain the difference TOA that pulse reaches solar system barycenter and pulse arrival detector time, be designated as Δ ti, it is configured to,
In formula, niTo point to i-th unit direction vector of pulsar in the solar system, b is solar system barycenter with respect to the sun
The position vector at center, rbPosition vector for detector relative to solar system barycenter, b and rbIt is the amplitude of correspondence vector, D0i
It is distance of i-th pulsar with respect to solar system barycenter, μsBe solar gravitation constant, c is the light velocity, m by use pulsar
Number.
Because measurement equation (4) is built under solar system geocentric coordinate system, and motion dynamics equations (2) are set up in Mars
Centered inertial coordinate system is, it is necessary to carry out Coordinate Conversion.During conversion, ephemeris error will be unavoidably introduced.Meanwhile, arteries and veins
Rush the uncertainty that star itself there is also intrinsic parameter, such as D0iAnd niUncertainty, can to measurement equation (4) forecast result
Cause a deviation.
To avoid that ephemeris error is introduced during conversion, and reduce the uncertainty of the intrinsic parameter of pulsar to leading
The error that boat result is caused, assembles X-ray detector, two space flight simultaneously on two spacecrafts of proximity detector and orbiter, orbital vehicle
X-ray detector on device locks same X-ray pulsar and is observed simultaneously return pulse signal simultaneously every time, is obtained in that
The pulsar, by information exchange and related algorithm, is obtained in that pulse is arrived respectively to two pulse arrival times of detector
Up to the difference information DTOA of time, Δ dt is designated asi.Shown in simplified single order DTOA measurement equation such as formula (5),
cΔdti=ni·(rs-ro)=ni·Δr (5)
Wherein Δ r is the relative position vector between detector and orbiter, orbital vehicle.The difference information DTOA of pulse arrival time with
The product of light velocity c reflects projector distance of two detector Relative position vectors on observed pulsar direction vector.It is logical
Differential mode is crossed, can avoid introducing planet ephemeris error, and can effectively reduce the intrinsic parameter uncertainty of pulsar to navigation
The adverse effect of performance.
X-ray pulsar arrival time difference information DTOA measurement models are expressed as,
yX=hX(x)=[Δ dt1 Δdt2 … Δdtm]T+νX (6)
In formula, νXIt is measurement error, it is believed that Gaussian distributed.
Meanwhile, by the Radio Measurement and communication of detector and the Mars orbiter, orbital vehicle for being equipped with wireless set, energy
Doppler range rate measurement information Δ F is accessed,
Wherein, Δ F is Doppler frequency shift, and M is frequency forward rate, fTIt is tranmitting frequency, Tc=ts-teWhen adding up for measurement
Between be spaced, tsIt is start time, teIt is that end time, Δ r=| Δ r | are detector and the instantaneous distance of orbiter, orbital vehicle.
If assuming fTIt is constant value, adds up time of measuring TcIt is very short, Doppler range rate measurement information Δ F instantaneous distance rate of change tables
Show,
Wherein Δ v is the relative velocity vector of detector and orbiter, orbital vehicle.
Doppler velocity measurement model based on Mars orbiter, orbital vehicle can be expressed as,
yR=hR(x)=Δ F+ νR (9)
In formula, vRIt is measurement error, it is believed that Gaussian distributed.
Formula (6) and formula (9) construct Mars finally close to and around independent navigation measurement model jointly.
Radio Measurement and communication band preferably use UHF waveband or X-band.
Step 3：Based on nonlinear filtering algorithm, detector real-time navigation status information is resolved, further improve Mars most
The precision of terminating proximal segment independent navigation.
Finally approached according to Mars and around kinetic model (2) and measurement model formula (6) and formula (9), filtered by navigating
Ripple is calculated can be estimated the state of detector and orbiter, orbital vehicle.Because Mars is finally close to and around kinetic model (2)
And measurement model formula (9) is presented non-linear, therefore it is preferred that use nonlinear filter, such as EKF EKF, without mark card
Kalman Filtering UKF etc. improves Navigation precision and convergence rate.Final output detector and orbiter, orbital vehicle status information, using phase
Definitely navigation is realized to metrical information, the precision of the final Approach phase independent navigation of Mars is further improved.
Beneficial effect：
1st, the final Approach phase autonomous navigation method of a kind of Mars based on relative measurement information disclosed by the invention, using X
Ray pulse star arrival time difference information DTOA, can avoid introducing planet ephemeris error, and can effectively reduce pulsar ginseng
The uncertain adverse effect to navigation performance of number.
2nd, the final Approach phase autonomous navigation method of a kind of Mars based on relative measurement information disclosed by the invention, using base
In the radio Doppler range rate measurement information of orbiter, orbital vehicle, observation data updating rate is high, there is directly test the speed information, and certainty of measurement
Height, can reduce the state emission problem caused because the observations of pulsar time is long.
3rd, a kind of final Approach phase autonomous navigation method of Mars based on relative measurement information disclosed by the invention, combines and estimates
The status information of meter proximity detector and Mars orbiter, orbital vehicle, effective orbit keeping device orbit determination accuracy reduces orbiter, orbital vehicle fiducial error
On radionavigational influence, two navigation performances of detector can be synchronously improved.
4th, the final Approach phase autonomous navigation method of a kind of Mars based on relative measurement information disclosed by the invention, using non-
Linear filter, it is possible to increase Navigation precision and convergence rate.
Brief description of the drawings
Fig. 1 is the flow chart of the final Approach phase independent navigation of Mars based on relative measurement information.
Fig. 2 is the final Approach phase independent navigation error result of Mars based on relative measurement information, wherein (a) is to approach spy
Survey device position estimation error figure, (b) are proximity detector speed estimation error figure, (c) is orbiter, orbital vehicle position estimation error figure,
D () is orbiter, orbital vehicle speed estimation error figure.
Specific embodiment
In order to better illustrate objects and advantages of the present invention, the content of the invention is done further with example below in conjunction with the accompanying drawings
Explanation.
Embodiment 1：
A kind of final Approach phase autonomous navigation method of Mars based on relative measurement information disclosed in this example, including it is as follows
Step：
Step 1：Mars is set up finally close to and around kinetic model.
The final Approach phase of Mars and circular section navigation system kinetic model are set up in J2000 Mars centered inertial coordinate systems
Under.Ten two-dimensional states vector includes the position of the Mars proximity detector represented with subscript s and velocity vector and is represented with subscript o
Mars orbiter, orbital vehicle position and velocity vector, be designated as
Wherein rs=[rx,s ry,s rz,s]T,vs=[vx,s vy,s vz,s]T；
Wherein ro=[rx,o ry,o rz,o]T,vo=[vx,o vy,o vz,o]T。
Using J2Disome kinetics equation under disturbance carries out state recursion as system dynamics model, that is, complete to set up
Mars is finally close and around kinetic model, is designated as
Wherein f (x)=[fT(xs) fT(xo)]T,
μ is Mars gravitational constant, RMIt is Mars mean radius, J2It is the second order band spherical harmonic coefficient of Mars, riIt is vectorial ri's
Mould, w is set to irrelevant process noise, it then follows following statistical property
E (w)=0, E (wwT)=Q (3)
Q is process noise covariance matrix.
Step 2：Mars is set up finally close to and around independent navigation measurement model.
Mars is finally close and includes X-ray pulsar arrival time difference information measurement around independent navigation measurement model
Model and the doppler velocity measurement model based on Mars orbiter, orbital vehicle.
For single detector, after X-ray pulse is received, it is carried out with solar system barycenter nominal contour
Contrast, you can obtain the difference TOA that pulse reaches solar system barycenter and pulse arrival detector time.It is designated as Δ ti, it is configured to,
In formula, niTo point to i-th unit direction vector of pulsar in the solar system, b is solar system barycenter with respect to the sun
The position vector at center, rbPosition vector for detector relative to solar system barycenter, b and rbIt is the amplitude of correspondence vector, D0i
It is distance of i-th pulsar with respect to solar system barycenter, μsIt is solar gravitation constant, c is the light velocity.
Because measurement equation (4) is built under solar system geocentric coordinate system, and motion dynamics equations (2) are set up in Mars
Centered inertial coordinate system is, it is necessary to carry out Coordinate Conversion.During conversion, ephemeris error will be unavoidably introduced.Meanwhile, survey
Amount model itself there is also the uncertainty of the intrinsic parameter of pulse, such as D0iAnd niUncertainty, can be pre- to measurement equation (4)
Report result causes a deviation.
To avoid that ephemeris error is introduced during conversion, and reduce the uncertainty of the intrinsic parameter of pulsar to leading
The error that boat result is caused, assembles X-ray detector, two space flight simultaneously on two spacecrafts of proximity detector and orbiter, orbital vehicle
X-ray detector on device locks same X-ray pulsar and is observed simultaneously return pulse signal simultaneously every time, is obtained in that
The pulsar, by information exchange and related algorithm, is obtained in that pulse is arrived respectively to two pulse arrival times of detector
Up to the difference information DTOA of time, Δ dt is designated asi.Shown in simplified single order DTOA measurement equation such as formula (5),
cΔdti=ni·(rs-ro)=ni·Δr (5)
Wherein Δ r is the relative position vector between detector and orbiter, orbital vehicle.The difference information DTOA of pulse arrival time with
The product of light velocity c reflects projector distance of two detector Relative position vectors on observed pulsar direction vector.It is logical
Differential mode is crossed, can avoid introducing planet ephemeris error, and can effectively reduce pulsar parameter uncertainty to navigation performance
Adverse effect.
X-ray pulsar arrival time difference information DTOA measurement models are expressed as,
yX=hX(x)=[Δ dt1 Δdt2]T+νX (6)
In formula, νXIt is measurement error, it is believed that Gaussian distributed.
Meanwhile, by the Radio Measurement and communication of detector and the Mars orbiter, orbital vehicle for being equipped with wireless set, energy
Doppler range rate measurement information Δ F is accessed,
Wherein, Δ F is Doppler frequency shift, and M is frequency forward rate, fTIt is tranmitting frequency, Tc=ts-teWhen adding up for measurement
Between be spaced, tsIt is start time, teIt is that end time, Δ r=| Δ r | are detector and the instantaneous distance of orbiter, orbital vehicle.
If assuming fTIt is constant value, adds up time of measuring TcIt is very short, Doppler range rate measurement information Δ F instantaneous distance rate of change tables
Show,
Wherein Δ v is the relative velocity vector of detector and orbiter, orbital vehicle.
Doppler velocity measurement model based on Mars orbiter, orbital vehicle can be expressed as：
yR=hR(x)=Δ F+ νR (9)
In formula, vRIt is measurement error, it is believed that Gaussian distributed.
Formula (6) and formula (9) construct Mars finally close to and around independent navigation measurement model jointly.
Step 3：Based on nonlinear filtering algorithm, detector real-time navigation status information is resolved, further improve Mars most
The precision of terminating proximal segment independent navigation.
Finally approached according to Mars and around kinetic model (2) and measurement model formula (6) and formula (9), filtered by navigating
Ripple is calculated can be estimated the state of detector and orbiter, orbital vehicle.Because Mars is finally close to and around kinetic model (2)
And measurement model formula (9) is presented non-linear, therefore it is preferred that using nonlinear filter --- Unscented kalman filtering UKF is improved and led
Boat filtering accuracy and convergence rate.Final output detector and orbiter, orbital vehicle status information, it is absolute using relative measurement information realization
Navigation, further improves the precision of the final Approach phase independent navigation of Mars.
Carry out simulating, verifying to the navigation scheme, the orbit parameter of proximity detector and orbiter, orbital vehicle is as shown in table 1.Close to spy
It is 10km to survey device original state site error, and velocity error is 10m/s, and the original state site error of orbiter, orbital vehicle is 10m, speed
Error is 0.1m/s.Simulation time be from detector enter martian atmosphere before 12h to enter Mars atmosphere it is (high away from martian surface
Degree 125km).During close, a length of 10min during observations of pulsar；Doppler range rate measurement is spaced 1min；Radio distance-measuring is tested the speed
Precision is 1mm/s.
The orbital tracking of the detector of table 1 and orbiter, orbital vehicle
The final Approach phase autonomous navigation scheme performance of Mars based on relative measurement information is as shown in Fig. 2 figure
A (), (b), (c), (d) is respectively navigation position, the speed of last 10 hours proximity detectors and Mars orbiter, orbital vehicle
Evaluated error and the 3 σ limitss of error.By simulation result as can be seen that the position of detector and speed estimation error are quick with the time
Convergence, can finally obtain high-precision state estimation information, the position of orbiter, orbital vehicle and velocity error can also restrain and maintain compared with
Good precision level.
The scope of the present invention is not only limited to embodiment, and embodiment is used to explaining the present invention, it is all with of the invention identical
Change or modification under the conditions of principle and design is within protection domain disclosed by the invention.
Claims (5)
1. the final Approach phase autonomous navigation method of a kind of Mars based on relative measurement information, it is characterised in that：Including following step
Suddenly,
Step 1：Mars is set up finally close to and around kinetic model；
The final Approach phase of Mars and circular section navigation system kinetic model are set up under Mars centered inertial coordinate system；Ten two dimensions
State vector includes the position of the Mars proximity detector represented with subscript s and velocity vector and the Mars rail represented with subscript o
The position of logos and utensils and velocity vector, are designated as
Wherein
Wherein
Using J2Disome kinetics equation under disturbance carries out state recursion as system dynamics model, that is, complete to set up Mars
Finally close to and around kinetic model, it is designated as
Wherein f (x)=[fT(xs) fT(xo)]T,
μ is Mars gravitational constant, RMIt is Mars mean radius, J2It is the second order band spherical harmonic coefficient of Mars, riIt is vectorial riMould, w
It is set to irrelevant process noise, it then follows the statistical property shown in formula (3)；
E (w)=0, E (wwT)=Q (3)
Q is process noise covariance matrix；
Step 2：Mars is set up finally close to and around independent navigation measurement model；
Mars is finally close and includes X-ray pulsar arrival time difference information measurement model around independent navigation measurement model
With the doppler velocity measurement model based on Mars orbiter, orbital vehicle；
For single detector, after X-ray pulse is received, it is right that itself and solar system barycenter nominal contour are carried out
Than, you can the difference TOA that pulse reaches solar system barycenter and pulse arrival detector time is obtained, Δ t is designated asi, it is configured to,
In formula, niTo point to i-th unit direction vector of pulsar in the solar system, b is solar system barycenter with respect to solar core
Position vector, rbPosition vector for detector relative to solar system barycenter, b and rbIt is the amplitude of correspondence vector, D0iIt is i-th
Pulsar with respect to solar system barycenter distance, μsBe solar gravitation constant, c is the light velocity, m by use pulsar number；
To avoid that ephemeris error is introduced during conversion, and reduce the uncertain to navigation knot of the intrinsic parameter of pulsar
The error that fruit is caused, assembles X-ray detector, on two spacecrafts simultaneously on two spacecrafts of proximity detector and orbiter, orbital vehicle
X-ray detector lock every time same X-ray pulsar be observed and simultaneously return pulse signal, be obtained in that the arteries and veins
Star is rushed respectively to two pulse arrival times of detector, by information exchange and related algorithm, when being obtained in that pulse is reached
Between difference information DTOA, be designated as Δ dti；Shown in simplified single order DTOA measurement equation such as formula (5),
cΔdti=ni·(rs-ro)=ni·Δr (5)
Wherein Δ r is the relative position vector between detector and orbiter, orbital vehicle；The difference information DTOA and light velocity c of pulse arrival time
Product reflect projector distance of two detector Relative position vectors on observed pulsar direction vector；By difference
Mode, can avoid introducing planet ephemeris error, and can effectively reduce the intrinsic parameter uncertainty of pulsar to navigation performance
Adverse effect；
X-ray pulsar arrival time difference information DTOA measurement models are expressed as,
yX=hX(x)=[Δ dt1 Δdt2 … Δdtm]T+νX (6)
In formula, νXIt is measurement error, it is believed that Gaussian distributed；
Meanwhile, by detector and the Radio Measurement and communication of the Mars orbiter, orbital vehicle for being equipped with wireless set, can obtain
To Doppler range rate measurement information Δ F,
Wherein, Δ F is Doppler frequency shift, and M is frequency forward rate, fTIt is tranmitting frequency, Tc=ts-teFor between the measurement cumulative time
Every tsIt is start time, teIt is that end time, Δ r=| Δ r | are detector and the instantaneous distance of orbiter, orbital vehicle；
If assuming fTIt is constant value, adds up time of measuring TcVery short, Doppler range rate measurement information Δ F instantaneous distance rates of change are represented,
Wherein Δ v is the relative velocity vector of detector and orbiter, orbital vehicle；
Doppler velocity measurement model based on Mars orbiter, orbital vehicle is expressed as,
yR=hR(x)=Δ F+ νR (9)
In formula, vRIt is measurement error, it is believed that Gaussian distributed；
Formula (6) and formula (9) construct Mars finally close to and around independent navigation measurement model jointly；
Step 3：Based on nonlinear filtering algorithm, detector real-time navigation status information is resolved, further improve Mars most terminating
The precision of proximal segment independent navigation；
Finally approached and around kinetic model (2) and measurement model formula (6) and formula (9) according to Mars, by Navigation meter
Calculation can be estimated the state of detector and orbiter, orbital vehicle；Because Mars finally close to and around kinetic model (2) and is surveyed
Amount modular form (9) is presented non-linear, therefore uses nonlinear filter to improve Navigation precision and convergence rate；Final output
Detector and orbiter, orbital vehicle status information, are definitely navigated using relative measurement information realization, further improve the final Approach phase of Mars
The precision of independent navigation.
2. the final Approach phase autonomous navigation method of a kind of Mars based on relative measurement information as claimed in claim 1, it is special
Levy and be：Radio Measurement and communication band use UHF waveband or X-band in step 2.
3. the final Approach phase autonomous navigation method of a kind of Mars based on relative measurement information as claimed in claim 1 or 2, its
It is characterised by：It is EKF EKF or Unscented kalman filtering UKF that nonlinear filter uses method in step 3.
4. the final Approach phase autonomous navigation method of a kind of Mars based on relative measurement information as claimed in claim 1 or 2, its
It is characterised by：The final Approach phase of Mars and circular section navigation system are set up in step 1 under J2000 Mars centered inertial coordinate systems
Kinetic model.
5. the final Approach phase autonomous navigation method of a kind of Mars based on relative measurement information, it is characterised in that：To realize Mars
Final Approach phase independent navigation, sets up final close to and around kinetic model；With reference to X-ray pulsar arrival time difference letter
The Doppler range rate measurement information of breath and Mars orbiter, orbital vehicle, based on nonlinear filtering algorithm, to proximity detector and Mars orbiter, orbital vehicle
State carries out Combined estimator, using X-ray pulsar arrival time difference information and the Doppler range rate measurement information of Mars orbiter, orbital vehicle
Two kinds of relative measurement information realizations definitely navigate, and improve the precision and inlet point state estimation of the final Approach phase independent navigation of Mars
Precision.
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