一种基于UPF的月球车自主天文导航方法

A New Method of Autonomous Celestial Navigation for Lunar Rover and Analysis of Precision

介绍了月球车自主天文导航原理和传统的迭代解析高度差方法,提出了一种基于月球车运动模型和UPF(Unscented粒子滤波)的自主天文导航新方法。该方法仅需利用由星敏感器和惯性测量单元测量得到的恒星的天体高度,结合月球车的运动模型,通过UPF滤波,即可获得高精度的月球车实时位置信息。计算机仿真结果表明该方法与传统方法相比,定位精度有了大幅提高,同时对几个关键的精度影响因素的仿真分析显示该方法可以有效的减弱量测噪声,星历误差等对系统性能的影响,使系统具有更高的适应能力。

The theory of autonomous celestial navigation for lunar rover and the conventional iterative intercept method are described. A new Autonomous celestial navigation method for lunar rover is presented, which only uses the altitude of stars at a given time measured by star sensor and inertial measurement unit. We can determine the position of lunar rover by the UPF（ Unscented Particle Filter） method using this celestial information combined with the rover motion model. A simulation result demonstrated the validity and feasibility of this new method . The factors which affect the precision are also analyzed to show the higher adaptability to noise compared with the conventional method.