北京航空航天大学学报 ›› 2006, Vol. 32 ›› Issue (07): 756-759.

• 论文 • 上一篇    下一篇

一种基于天体观测的月球车位置姿态确定方法

宁晓琳, 房建成   

  1. 北京航空航天大学 仪器科学与光电工程学院, 北京 100083
  • 收稿日期:2005-07-22 出版日期:2006-07-31 发布日期:2010-09-19
  • 作者简介:宁晓琳(1979-),女,山东济南人,博士生,ningxiaolin@aspe.buaa.edu.cn.
  • 基金资助:

    国家自然科学基金资助项目(60574086);国家民用航天预研资助项目(科工计[2002]439号文)

Position and pose estimation by celestial observation for lunar rovers

Ning Xiaolin, Fang Jiancheng   

  1. School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2005-07-22 Online:2006-07-31 Published:2010-09-19

摘要: 针对月球车提出了一种基于天文观测的自主位置姿态确定方法.建立了利用天体敏感器测量得到的天体高度和方位作为观测信息的量测方程,并利用月球车运动的三阶常加速(CA,Constant Aceeleration)模型和姿态的欧拉角运动模型作为系统方程,给出了基于Unscented卡尔曼滤波获得月球车实时位置、速度和姿态信息的导航方法.计算机仿真表明该方法可达到较高的位置姿态确定精度.

Abstract: At a given time the altitude and azimuth of celestial bodies measured by star sensor and other celestial body measure devices contain the information of lunar rover’s position and pose. So the position and pose of lunar rovers can be determined using this kind of information. A new autonomous position and pose estimation method for lunar rovers based on celestial observation and unscented kalman filter(UKF) method was described. The principle of this method was introduced, and the rover motion models and the measurement equations of altitude and azimuth used in this autonomous celestial navigation system were presented. Because this method only uses the accuracy measurement coming from the star sensor, it has higher precision of position and pose determination. A simulation result demonstrated the validity and feasibility of this new method.

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