基于IMU/LIDAR的月面软着陆自主导航方法  

Autonomous Navigation Based on Inertial Measurement Unit and Light Detection and Ranging for Lunar Soft Landing

作　　者：江秀强[1] 

机构地区：[1]南京航空航天大学航天学院,南京210016

出　　处：《导弹与航天运载技术》2013年第4期56-60,共5页Missiles and Space Vehicles

基　　金：南京航空航天大学研究生创新基地(实验室)开放基金资助(kfjj130135);中央高校基本科研业务费专项资金资助

摘　　要：针对中国探月二、三期工程及未来星际着陆探测任务中对探测器精确着陆的要求,为避免采用导航相机进行导航时的大量图像处理运算对导航实时性的影响及其对星载计算机性能的苛刻要求,同时克服传统导航精度低的缺点,提出一种基于惯性测量单元(IMU)加激光雷达(LIDAR)的着陆段自主导航方法。该方法利用惯性测量单元测得的探测器的加速度和角速度以及激光雷达测得的探测器相对于月面的距离和速度信息,通过改进扩展Kalman滤波估计出探测器的位置、速度和姿态。该方法的运算量较小,保证了良好的实时性,且仿真分析表明采用该方法对月面地形具有较好的适应能力,可获得较高的导航精度。To satisfy the requirements of pinpoint soft landing in the stage II and III of China＇s lunar exploration program（CLEP） and interplanetary landing exploration missions in the future,an autonomous navigation method based on IMU/LIDAR is presented for the landing phase in this paper,in order to avoid both the influence on real-time navigation and the strict requirements of the onboard computer performance from a mass of image processing operation when using navigation camera.The location,velocity and attitude of the explorer is estimated by the proposed modified extended Kalman filter utilizing measurements of angular velocity and acceleration from an inertial measurement unit（IMU） as well as Doppler velocity and range observations from an light detection and ranging（LIDAR） system.This method requires less computing and ensures a better real-time property.The results of simulation show that this method can well adapt to the lunar terrain and achieve higher navigation accuracy.

关 键 词：月面精确软着陆 自主导航 惯性测量单元 激光雷达 工程应用 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]