A Distributed Radio Beacon/IMU/Altimeter Integrated Localization Scheme with Uncertain Initial Beacon Locations for Lunar Pinpoint Landing
As a growing number of exploration missions have successfully landed on the Moon in recent decades, ground infrastructures, such as radio beacons, have attracted a great deal of attention in the design of navigation systems. None of the available studies regarding integrating beacon measurements for...
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-10-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/20/19/5643 |
| _version_ | 1797551941032607744 |
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| author | Rongjun Mu Yuntian Li Rubin Luo Bingzhi Su Yongzhi Shan |
| author_facet | Rongjun Mu Yuntian Li Rubin Luo Bingzhi Su Yongzhi Shan |
| author_sort | Rongjun Mu |
| collection | DOAJ |
| description | As a growing number of exploration missions have successfully landed on the Moon in recent decades, ground infrastructures, such as radio beacons, have attracted a great deal of attention in the design of navigation systems. None of the available studies regarding integrating beacon measurements for pinpoint landing have considered uncertain initial beacon locations, which are quite common in practice. In this paper, we propose a radio beacon/inertial measurement unit (IMU)/altimeter localization scheme that is sufficiently robust regarding uncertain initial beacon locations. This scheme was designed based on the sparse extended information filter (SEIF) to locate the lander and update the beacon configuration at the same time. Then, an adaptive iterated sparse extended hybrid filter (AISEHF) was devised by modifying the prediction and update stage of SEIF with a hybrid-form propagation and a damping iteration algorithm, respectively. The simulation results indicated that the proposed method effectively reduced the error in the position estimations caused by uncertain beacon locations and made an effective trade-off between the estimation accuracy and the computational efficiency. Thus, this method is a potential candidate for future lunar exploration activities. |
| first_indexed | 2024-03-10T15:52:57Z |
| format | Article |
| id | doaj.art-76c5862ef72046b4b5add144652e1971 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T15:52:57Z |
| publishDate | 2020-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-76c5862ef72046b4b5add144652e19712023-11-20T15:54:24ZengMDPI AGSensors1424-82202020-10-012019564310.3390/s20195643A Distributed Radio Beacon/IMU/Altimeter Integrated Localization Scheme with Uncertain Initial Beacon Locations for Lunar Pinpoint LandingRongjun Mu0Yuntian Li1Rubin Luo2Bingzhi Su3Yongzhi Shan4School of Astronautics, Harbin Institute of Technology, Harbin 150001, ChinaSchool of Astronautics, Harbin Institute of Technology, Harbin 150001, ChinaInstitute of Aerospace Systems Engineering, Beijing 100076, ChinaSchool of Astronautics, Harbin Institute of Technology, Harbin 150001, ChinaSchool of Astronautics, Harbin Institute of Technology, Harbin 150001, ChinaAs a growing number of exploration missions have successfully landed on the Moon in recent decades, ground infrastructures, such as radio beacons, have attracted a great deal of attention in the design of navigation systems. None of the available studies regarding integrating beacon measurements for pinpoint landing have considered uncertain initial beacon locations, which are quite common in practice. In this paper, we propose a radio beacon/inertial measurement unit (IMU)/altimeter localization scheme that is sufficiently robust regarding uncertain initial beacon locations. This scheme was designed based on the sparse extended information filter (SEIF) to locate the lander and update the beacon configuration at the same time. Then, an adaptive iterated sparse extended hybrid filter (AISEHF) was devised by modifying the prediction and update stage of SEIF with a hybrid-form propagation and a damping iteration algorithm, respectively. The simulation results indicated that the proposed method effectively reduced the error in the position estimations caused by uncertain beacon locations and made an effective trade-off between the estimation accuracy and the computational efficiency. Thus, this method is a potential candidate for future lunar exploration activities.https://www.mdpi.com/1424-8220/20/19/5643lunar landerradio beaconssparse extended information filteradaptive filterintegrated navigation |
| spellingShingle | Rongjun Mu Yuntian Li Rubin Luo Bingzhi Su Yongzhi Shan A Distributed Radio Beacon/IMU/Altimeter Integrated Localization Scheme with Uncertain Initial Beacon Locations for Lunar Pinpoint Landing Sensors lunar lander radio beacons sparse extended information filter adaptive filter integrated navigation |
| title | A Distributed Radio Beacon/IMU/Altimeter Integrated Localization Scheme with Uncertain Initial Beacon Locations for Lunar Pinpoint Landing |
| title_full | A Distributed Radio Beacon/IMU/Altimeter Integrated Localization Scheme with Uncertain Initial Beacon Locations for Lunar Pinpoint Landing |
| title_fullStr | A Distributed Radio Beacon/IMU/Altimeter Integrated Localization Scheme with Uncertain Initial Beacon Locations for Lunar Pinpoint Landing |
| title_full_unstemmed | A Distributed Radio Beacon/IMU/Altimeter Integrated Localization Scheme with Uncertain Initial Beacon Locations for Lunar Pinpoint Landing |
| title_short | A Distributed Radio Beacon/IMU/Altimeter Integrated Localization Scheme with Uncertain Initial Beacon Locations for Lunar Pinpoint Landing |
| title_sort | distributed radio beacon imu altimeter integrated localization scheme with uncertain initial beacon locations for lunar pinpoint landing |
| topic | lunar lander radio beacons sparse extended information filter adaptive filter integrated navigation |
| url | https://www.mdpi.com/1424-8220/20/19/5643 |
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