基于陀螺和太阳敏感器的月球车定向方法
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摘要
针对月球探测车采用惯性导航方法进行定向时,航向角参数误差随时间不断累积的缺点,提出了一种天文导航定时修正的月球车自主定向方法。该天文方法首先建立当地地平坐标系,然后通过太阳敏感器观测太阳矢量并由星历计算来推算太阳的方位从而得到月球车的航向信息。仿真实验分析比较了月球车有无误差修正时航向信息的差别。最后通过中国天文年历和月球样车室外实验综合证明了该方法的可行性和有效性。
For the shortcomings of the heading angle parameter error accumulating over time when lunar rover self-direct using inertial navigation,a revised self-directed method via celestial navigation was proposed.According to the method,the Local Horizon Coordinate System was built,then get the sun vector through the solar sensor secondly and ascertain the sun's position via the ephemeris calculations thirdly in order to estimate the heading information.Simulation shows the analysis and comparison of the difference when the availability of lunar rover heading information error correction.The final adoption of Chinese astronomical calendar and the experimental data of the lunar-like vehicle outside-the-door shows the validity and effectiveness of the method.
For the shortcomings of the heading angle parameter error accumulating over time when lunar rover self-direct using inertial navigation,a revised self-directed method via celestial navigation was proposed.According to the method,the Local Horizon Coordinate System was built,then get the sun vector through the solar sensor secondly and ascertain the sun's position via the ephemeris calculations thirdly in order to estimate the heading information.Simulation shows the analysis and comparison of the difference when the availability of lunar rover heading information error correction.The final adoption of Chinese astronomical calendar and the experimental data of the lunar-like vehicle outside-the-door shows the validity and effectiveness of the method.
引文
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[3]裴福俊.基于天文与速度联合观测的月球车自主导航方法[J].宇航学报,2009,3,486-491.(PEI Fu jun,Auto-nomousNavigation Method with Celestial and Velocity Joint Observation forLunar Rover[J].JOURNAL OF ASTRONAUTICS,2009,3,486-491.)
[4]Matthias.Larry H.Visual localization methods for mars rovers u-sing lenderr,over,and descent imagery[C].1997.
[5]Meeus Jean,Astronomical algorithms[M].Published by Willmann-BellI,ncf,irst English Edition.
[6]孟积兴,2008年中国天文年历[M].北京:科学出版社.(MengJi xing,2008 Chinese Astro-nomical almanac,BeiJing:SciencePress.)
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