基于联邦卡尔曼滤波的月球车联合定位方法  

A Method for Joint Positioning of Lunar Roverbased on Federated Kalman Filter

作　　者：魏二虎[1] 汤深权 刘建栋 董翠军 WEI Erhu TANG Shenquan LIU J iandong DONG Cuijun(School of Geodesy and Geomatics, ,Wuhan University, Wuhan 430079,China North Information Control Institute Group Co. , Ltd. , Nanjing 211153, China Shanghai Astronomical Observatory,Chinese Academy of Sciences,Shanghai 200030,China)

机构地区：[1]武汉大学测绘学院,湖北武汉430079 [2]北方信息控制研究院集团有限公司,江苏南京211153 [3]中国科学院上海天文台,上海200030

出　　处：《武汉大学学报（信息科学版）》2017年第10期1431-1437,共7页Geomatics and Information Science of Wuhan University

基　　金：国家自然科学基金(41374012)~~

摘　　要：针对月球车定位,设计和推导了一种基于甚长基线干涉测量(very long baseline interferometry,VLBI)和天文导航系统(celestial navigation system,CNS)相结合的月球车联合定位方法,并采用联邦卡尔曼滤波来实现位置信息的最优估计以增强系统的可靠性和容错能力。最后,通过嫦娥-3号(CE-3)实测数据的解算证明了该方法较使用最小二乘法进行联合解算和单独采用VLBI方法定位,可以获得更高的月球车定位精度。同时,也有效地保障了月球车定位的可靠性和稳定性。A co-localization method for lunar rover positioning based on very long baseline interferometry （VLBI） and celestial navigation systems （CNS） is presented in the paper.A federated kalman filter was utilized to implement optimal estimation of position information in order to enhance reliability and fault tolerance ability of the system.Experimentalresults calculated with measurement data from the Chang ＇E-3（CE-3） mission demonstrate that this method improves the positioning accuracy of the lunar rover comparing with VLBI alone or joint calculation with Least Squares method.Furthermore,this method also guarantees the reliability and stability of lunar rover positioning.

关 键 词：VLBI 天文导航 月球车 联合定位 联邦卡尔曼滤波 

分 类 号：P228[天文地球—大地测量学与测量工程]