摘要
针对惯性测量单元(IMU)存在误差积累的特点,提出了利用探测器上的光学敏感器,通过对预先选定的特征点的测量得出探测器的相对位置,根据这些光学导航信息再结合惯性导航输出轨迹,通过多模自适应滤波完成对IMU导航的修正。对整个导航系统的可观性进行了分析,并通过数值仿真验证了所提出的自主导航方法的可行性。
We propose an autonomous navigation scheme based on optical navigation and inertial measurement unit（IMU） for lunar soft landing. In order to remove the accumulation errors of IMU, we use the on-board optical measurement information of pre-selected feature point to obtain relative position of the probe. Then, based on those optical information and the output trajectory of IMU navigation, the amendments of IMU navigation are completed by the multi-model adaptive filtering. In addition, the observability of entire navigation system is analyzed. Finally, the feasibility of the proposed autonomous navigation scheme is confirmed by numerical simulation.
出处
《武汉大学学报（信息科学版）》
EI
CSCD
北大核心
2010年第9期1013-1016,共4页
Geomatics and Information Science of Wuhan University
基金
国家杰出青年科学基金资助项目(40625013)
国家自然科学基金资助项目(40890160)
国家863计划资助项目(2007AA12Z311)
关键词
月球软着陆
自主组合导航
多模自适应估计
可观性分析
lunar soft landing
autonomous integrated navigation
multi-model adaptive estimation
observability analysis
