摘要
我国月球探测二期工程将进行月面巡视探测任务,而月球车的导航和控制是任务完成的重要保障。月球车实现自主导航可以弥补地面测控的局限性,是目前亟待解决的关键技术。惯性导航和天文导航都是适用于月球车的自主导航方法,但惯性导航误差随时间积累,天文导航短时精度较低。为此,提出一种月球车自主惯性/天文组合导航新方法,通过天文导航不断对惯性导航进行校正,提高了导航的精度和可靠性。仿真结果表明,该惯性/天文组合导航方法的位置精度在25 m以内,可满足月球车长时间、长距离的高精度导航要求。
In the second phase of China＇s lunar exploration program,a lunar rover will be used to survey the lunar surface.Effective navigation and control of lunar rover guarantees the success of the mission.Autonomous navigation is a critical technology which compensates for the limitations of ground tracking and control.Inertial navigation system（INS） and celestial navigation system（CNS） are two kinds of important autonomous navigation systems.However,the error of INS accumulates with time and precision of CNS is low in a short period of time.In order to solve these problems,a new INS/CNS integrated navigation method for lunar rovers is presented.This method acquires a high navigation precision by periodically fusing estimates of INS and CNS.Simulation results show that a position estimation error within 25 m is obtained,which demonstrates that the method is a promising choice for long period,long distance and high precision navigation of lunar rover.
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2011年第8期1837-1844,共8页
Systems Engineering and Electronics
基金
国家自然科学基金(60874095)
北京市优秀博士学位论文指导教师科技项目(YB20091000601)资助课题
关键词
月球车
自主导航
惯性/天文组合导航
lunar rover
autonomous navigation
INS/CNS integrated navigation
