基于视觉和MEMS-IMU融合的火星车导航定向技术  

An Approach of Attitude Estimation by Using Vision-Aided IMU for Mars Rover

作　　者：娄路[1] 

机构地区：[1]重庆交通大学信息科学与工程学院,重庆400074

出　　处：《航天控制》2012年第4期32-36,48,共6页Aerospace Control

基　　金：国家自然科学基金(61004118);重庆市自然科学基金项目(cstc2011jjA40030)

摘　　要：火星探测车需要在复杂非结构化火星地表环境下完成自主导航定位任务。针对火星车导航定位传感器的低功耗、微型化的发展趋势,提出一种基于MEMS-IMU的传感器补偿融合、单目视觉航向测定的方法。该方法能克服火星复杂地表和单一性地貌环境可能导致的测试误差过大问题。模拟环境下的实验数据结果显示该方法具备实时性好、可靠性高的特点,姿态估计和航向测量的准确率较高。The autonomous navigation and attitude estimation is one of the most challenge tasks of planetary rover operations. The heading information is an important part of Mars rover navigation, and its precision will affect the localization precision and the performance of navigation directly, especially for long range and long duration travel on the Mars. In order to acquire the attitude and heading, the visual aided MEMS-IMU methods are presented, which use accelerometer to correct gyro biases and develop an appearance-based algorithm to measure heading/rotation with monocular camera. The methods are simple, realtime and reliable, and the experimental results demonstrate the effectiveness of the approach proposed

关 键 词：火星探测车 姿态估计 导航定向 多传感器融合 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]