基于路标重观测的月面巡视器激光雷达定位方法研究  

Research on the Lidar Positioning Method of Lunar Rover Based on Landmark Re-Observation

作　　者：李硕 余萌 曹涛 郑博 胡涛 LI Shuo;YU Meng;CAO Tao;ZHENG Bo;HU Tao(College of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;Shanghai Aerospace Control Technology Research Institute,Shanghai 201109,China)

机构地区：[1]南京航空航天大学航天学院,南京211106 [2]上海航天控制技术研究所,上海201109

出　　处：《深空探测学报（中英文）》2022年第6期625-632,共8页Journal Of Deep Space Exploration

基　　金：国家自然科学基金青年科学基金资助项目(62103259);南京航空航天大学青年科技创新基金资助项目(NS2021062);上海市自然科学基金资助项目(22ZR1479600)。

摘　　要：在未来月面漫游巡视探测任务中,月球表面存在路况崎岖不平、缺乏结构化场景、表面纹理贫瘠等不利因素,为提升月面巡视器激光雷达定位精度,提出了一种历史路标重观测的月面巡视器激光雷达定位方法。首先对当前探测视野的点云地貌定时进行显著性研判,并提取重观测的路标,根据实时监测巡视器位姿状态估计确定路标重观测的触发时刻,最终通过点云配准获得精确位姿。仿真结果表明,路标重观测方法可将系统历史位姿估计与当前点云观测进行融合互补,有效抑制噪声引起的数据漂移,提高了月面巡视器定位精度。In future lunar surface roaming and inspection missions,considering the some adverse factors on the lunar surface,such as rugged road conditions,lack of structured scenes,poor surface texture and so on,a method of active re-observation of historical landmarks was proposed to improve positioning accuracy of lunar rover lidar.Firstly,the significance of the point cloud landform in the current detection field was studied and judged at the fixed time,and re-observed landmarks were extracted.The trigger time of re-observation was determined according to the position and attitude estimation of the real-time monitoring inspector.Finally,point cloud matching algorithm was used to obtain the accurate position and attitude.Simulation results show that the active re-observation method fuses the historical position and attitude estimation of the system with uses the historical position and attitude estimation of the system with current observations,suppresses data drift caused by noise,and improves positioning accuracy of the lunar rover.

关 键 词：漫游巡视 纹理贫瘠 主动重观测 点云配准 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]