一种基于天体观测的月球车位置姿态确定方法

Position and pose estimation by celestial observation for lunar rovers

针对月球车提出了一种基于天文观测的自主位置姿态确定方法.建立了利用天体敏感器测量得到的天体高度和方位作为观测信息的量测方程,并利用月球车运动的三阶常加速(CA,ConstantAceeleration)模型和姿态的欧拉角运动模型作为系统方程,给出了基于Unscented卡尔曼滤波获得月球车实时位置、速度和姿态信息的导航方法.计算机仿真表明该方法可达到较高的位置姿态确定精度.

At a given time the altitude and azimuth of celestial bodies measured by star sensor and other celestial body measure devices contain the information of lunar rover＇ s position and pose. So the position and pose of lunar rovers can be determined using this kind of information. A new autonomous position and pose estimation method for lunar rovers based on celestial observation and unscented kalman filter（UKF） method was described. The principle of this method was introduced, and the rover motion models and the measurement equations of altitude and azimuth used in this autonomous celestial navigation system were presented. Because this method only uses the accuracy measurement coming from the star sensor, it has higher precision of position and pose determination. A simulation result demonstrated the validity and feasibility of this new method.