基于天文与速度联合观测的月球车自主导航方法  

Autonomous Navigation Method with Celestial and Velocity Joint Observation for Lunar Rover

作　　者：裴福俊[1] 居鹤华[1] 崔平远[1,2] 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100022 [2]哈尔滨工业大学深空探测基础研究中心,哈尔滨150001

出　　处：《宇航学报》2009年第2期486-491,共6页Journal of Astronautics

基　　金：国家高技术研究计划(2006AA12Z307);博士科研启动基金(52002011200704)

摘　　要：月球车自主导航系统是其完成月球探测任务的基础和关键,因此针对月球导航的特殊要求设计了一种基于速度和天文联合观测的月球车自主导航方法。首先根据月球表面导航的特殊要求,依据惯性导航的基本原理建立了月球环境下惯性导航系统的姿态、速度和位置误差方程,然后针对月球车载的捷联惯导系统的特点建立了基于速度和天文联合观测的量测方程,由于建立的系统状态方程和量测方程均为线性方程,所以采用了Kalman滤波实现月球车位姿信息的最优估计。仿真结果表明该方法具有很好的位置和姿态估计精度,同时有效抑制了量测噪声对系统性能的影响,是解决月球车自主导航问题的一种有效而实用的方法。It is essential for lunar rover to know its position in order to fulfill the lunar exploration mission. Therefore, the autonomous navigation and control method of lunar rover have become an important topic. In this paper, a new autonomous navigation method for lunar rover based on velocity and celestial joint observation is described. The principle of this method was introduced, and the system equation for lunar rover based on the theory of inertial navigation is developed. Then the joint observation model based on celestial and velocity is presented. Because of the system equation and observation model are linear, Kalman filter is used to implement optimization estimation in this method. Finally, the simulation of this method was finished. The simulation results demonstrated the validity and feasibility of this method.

关 键 词：月球车 自主导航 捷联惯性导航 太阳敏感器 联合观测 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]