一种基于纯天文观测的火星车自主导航方法  

A New Autonomous Navigation Method for Martian Rover Based on Celestial Observation

作　　者：宁晓琳[1] 房建成[1] 

机构地区：[1]北京航空航天大学仪器科学与光电工程学院,北京100083

出　　处：《空间科学学报》2006年第2期142-147,共6页Chinese Journal of Space Science

基　　金：国家自然科学基金(60574086);国家863-703计划(2003AA735101)共同资助

摘　　要：提出了一种基于纯天文观测的火星车自主天文导航新方法．该方法仅需利用由星敏感器视场内测量得到的火星卫星(火卫一、火卫二)和某一恒星之间的星光角距,结合火星车的运动模型,通过Unscented粒子滤波方法,即可获得高精度的火星车实时位置信息,计算机仿真结果表明丁该方法的有效性,同时对几个关键的精度影响因素进行了仿真分析．It is essential for a Martian rover to know its position in order to fulfill a task. For there are some disadvantages of the rover controlled and navigated by ground station. The autonomous navigation and control of planet rover have become an important topics. Since the celestial navigation method has become one of the main trends of mobile robots navigation development, a new Autonomous navigation method for Martian rover based on celestial observation is described in this paper. This method only uses the angles between the stars and the center of Martian moons, Phobos or Deimos, which are got from an image of such objects taken by a star camera. At a given time these angles contains the information of rover＇s position, we can determine the position of Martian rover by the UPF （Unscented Particle Filter） method combined with the rover motion model. A simulation result demonstrated the validity and feasibility of this new method. The main factors which affect the precision, including measurement error and ephemeris error, are also analyzed.

关 键 词：深空探测 火星车 自主导航 天文导航 

分 类 号：V448[航空宇航科学与技术—飞行器设计]