我国月面巡视探测器定位方法研究

Study on Chinese Lunar Rover Location Methods

月球自动巡视勘查技术中的月面巡视探测器的导航控制,需要研究月面巡视探测器的定位技术。文章通过对国外漫游车定位方法的研究,提出了我国月面巡视探测器在全局坐标系和局部坐标系中进行定位的方法。月面巡视探测器在全局坐标系中的定位可以采用星敏感器以及陆标辨识的方式;局部坐标系的定位可以采用惯性导航系统+里程计以及着陆器帮助下定位和视觉里程计的定位方法。这几种定位方式的组合应用,能够满足月面巡视探测器导航方面的定位要求。

In lunar rover navigation, Lunar Rover＇s position and attitude should be measured. In this paper, several rover＇s location methods are studied. In global coordinate, star sensors and landmarks recognized methods could be adopted. In local coordinate, the methods such as gyro navigation system plus odometer, visual odometer and positioning with the aid of lander could be adopted. Several methods can be applied in combination, which can satisfy the need of Lunar Rover location.