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首页> 外文期刊>Journal of guidance, control, and dynamics >Robust Orbit Determination with Flash Lidar Around Small Bodies
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Robust Orbit Determination with Flash Lidar Around Small Bodies

机译：用闪光激光雷达围绕小天体进行稳健的轨道确定

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This work explores the limits of using flash lidar measurements around an asteroid for relative orbit determination by comparing different filtering methods and testing the robustness of these methods to model errors. Previous work showed that flash lidar can provide accurate orbit determination with an onboard shape model and is less computationally expensive than using the state-of-the-art optical navigation methods. Here, the performance of three filters is compared for a circular terminator orbit and an eccentric orbit, both around the asteroid Itokawa. An iterative least-squares filter is presented that counters the filter saturation seen with other Kalman filtering methods. Estimating an off-nominal pointing bias is added to the estimation state, and the bias and pointing jitter are accurately resolved with the iterative least-squares filter. Using a low-fidelity onboard shape model tests the filter robustness and increases computational efficiency, and the filters do not diverge. The majority of the state errors are captured with a sequential consider covariance analysis. The results of these studies add confidence to pursuing the use of flash lidar measurements for autonomous navigation in proximity to small bodies and in complex dynamical environments.
机译：这项工作通过比较不同的滤波方法并测试这些方法对误差建模的鲁棒性，探索了在小行星周围使用闪光灯激光雷达测量进行相对轨道确定的局限性。先前的工作表明，与使用最新的光学导航方法相比，闪光激光雷达可以通过机载形状模型提供准确的轨道确定，并且计算成本较低。在这里，比较了围绕小行星伊藤川的圆形终结者轨道和偏心轨道的三个滤波器的性能。提出了一个迭代最小二乘滤波器，该滤波器可抵消其他卡尔曼滤波方法所见的滤波器饱和度。将估计偏离名义的指向偏差添加到估计状态，并使用迭代最小二乘滤波器准确解决偏差和指向抖动。使用低保真机载形状模型可以测试滤波器的鲁棒性并提高计算效率，并且滤波器不会发散。大多数状态错误是通过顺序考虑协方差分析来捕获的。这些研究的结果使人们有信心继续使用闪光灯激光雷达测量技术，以在小物体附近和复杂的动态环境中进行自主导航。

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