太阳敏感器辅助的分布式EKF-SLAM火星车自主导航方法  

Autonomous Navigation Method for Mars Rover Using Distributed EKF-SLAM Assisted by Sun Sensor

作　　者：裴福俊 严鸿 朱明君 PEI Fujun;YAN Hong;ZHU Mingjun(Faculty of Information Technology,Beijing University of Technology,Beijing 100124,China;Beijing Key Laboratory of Computational Intelligence and Intelligent System,Beijing 100124,China)

机构地区：[1]北京工业大学信息学部,北京100124 [2]计算智能与智能系统北京市重点实验室,北京100124

出　　处：《深空探测学报》2020年第2期191-196,共6页Journal Of Deep Space Exploration

基　　金：北京市自然科学基金面上项目(4162011);北京市教育委员会科研计划一般项目(KM201610005009)。

摘　　要：针对已有的SLAM算法在实时性和准确性方面无法满足火星车自主导航实际需求的问题,提出了一种基于航向辅助的分布式EKF-SLAM算法来实现火星车的自主导航定位。该方法利用双轴模拟式太阳敏感器获取太阳方位角,进而解算出火星车的航向信息并加入到SLAM的各子系统,从而构建了航向辅助的分布式SLAM系统模型,并采用联邦EKF实现分布式SLAM系统的状态估计,最终构建整体的天文航向辅助的分布式EKF-SLAM系统。最后,利用装载太阳敏感器的移动机器人在户外进行实验,实验对比结果证明了所提出算法的估计精度与有效性。Since the existing SLAM algorithm can not meet the actual demand of the Mars rover autonomous navigation problem in real-time and accuracy, a distributed EKF-SLAM algorithm is proposed based on heading assistance to achieve the rover’s autonomous navigation. The solar azimuth is got by using the dual axis analog sun sensor, and then the rover heading information is calculated and added it to each subsystem of SLAM. Consequently, a SLAM model of EKF-SLAM system is built and the federal EKF is adopted to realize the state estimation of the distributed SLAM system. Finally, a whole astronomical heading assistant distributed system is constructed. The experiment test is performed in outdoor experimental environment using a mobile robot, and the experimental results demonstrate the accuracy and effectiveness of the proposed algorithm.

关 键 词：火星车 分布式SLAM 航向辅助 太阳敏感器 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]