月球基地车辆自校准导航定位方法

Lunar-Base Vehicle Self-Calibration Navigation and Positioning Methods

提出一种月球基地车辆自校准导航方法,包括基于到达时间(TOA)和到达时间差(TDOA)的车辆自校准导航方法以及基于接收信号强度指示(RSSI)的车辆自校准导航方法,能够实现月球基地车辆高精度导航。文中首先给出了惯性导航自校准方程,包括位置坐标、速度、加速度、角速度、角度等的自校准状态方程和自校准量测方程,能够有效地对陀螺仪和加速度计的漂移进行实时修正,并建立了超宽带(UWB)距离差量测方程。然后将惯性导航自校准方程与UWB距离差量测方程相结合,建立了基于TDOA的车辆自校准导航方法;而将惯性导航自校准方程与RSSI量测方程相结合,则建立了基于RSSI的车辆自校准导航方法。它们通过采用非线性系统双未知输入自校准滤波方法进行导航滤波,能够对其中的未知输入(如惯性导航漂移、非视距误差等)进行自动识别、估计和补偿,显著提高导航精度。此外,文中还给出了一种月球基地自校准定位方法。

Lunar-base vehicle self-calibration navigation methods are proposed,which include time-of-arrival-based(TOA-based)and time-difference-of-arrival-based(TDOA-based)vehicle self-calibration navigation methods and a received-signal-strength-indicator-based(RSSI-based)vehicle self-calibration navigation method.These methods can achieve lunar-base vehicle high-accuracy navigation.Firstly,the inertial navigation self-calibration equations are given,which include the self-calibration state equations and self-calibration measurement equations of the position coordinates,velocities,accelerations,angular velocities and angles.These equations can effectively correct the drift of gyroscopes and accelerometers in real time.Then,the ultra-wideband(UWB)distance difference measurement equations are established and combined with the inertial navigation self-calibration equations.As a result,the TDOA-based vehicle self-calibration method is established.Meanwhile,combining the inertial navigation self-calibration equations with the RSSI measurement equations,the RSSI-based vehicle self-calibration navigation method is established.In these methods,the navigation filtering is carried out utilizing the nonlinear system dual-unknown-input self-calibration filtering methods.Therefore,the unknown inputs(such as inertial navigation drift,non-line-of-sight errors,etc.)can be automatically recognized,estimated and compensated,and the navigation accuracy can be significantly improved.Moreover,a lunar-base self-calibration positioning method is presented in this paper.