一种适合于月球车的长距离自主导航方法

A long-range autonomous navigation method for lunar rovers

针对月球车自主导航系统的特殊要求,设计了一种月球车长距离自主导航方法。该方法首先依据惯性导航和天文学的基本原理建立月球环境下惯性导航系统的姿态、速度和位置误差方程,然后针对捷联惯性系统平台失准角较大的问题,引入里程计测量的速度信息与球面天文三角公式,共同构建量测方程,由于建立的系统状态方程和量测方程均为线性方程,所以采用卡尔曼滤波实现月球车位姿信息的最优估计。最后,对这一导航方法进行了仿真研究,仿真结果表明,该方法具有更高的位置和姿态估计精度,同时可有效提高系统的稳定性和可靠性,是解决月球车自主导航问题的一种有效而实用的自主导航方法。

According to the lunar exploration mission requirements, this paper proposes a new long-range autonomous navigation method for lunar rovers. The method establishes the equation for the attitude, velocity and position error of an inertia navigation system in the lunar environment based on the theories of inertial navigation and astronomy, and then constracts the observation model based on celestial triangle expressions and velocity error. Because the system equation and the observation model are linear, the Kalman filter is used to implement the optimization estimation in this method. The simulation results demonstrate that this method has the higher precision of position and head angle, and show its reliability, validity and feasibility.