Angular Velocity Current Statistical Model based Real-time Celestial Navigation for Lunar Rover
The long-time,long-range autonomous navigation system is one of the key technologies which assist lunar rover to finish scientific exploration missions.A novel real-time celestial navigation (RCN)method is proposed to solve this problem, which is based on celestial observation and output of angular rate gyroscope.In this paper,the stars direction vector from star sensor is treated as observation for system measurement equation;kinematics model is established using this angular velocity current statistical model (ACSM)for the rover,and its attitude quaternion differential equation is treated as system state equation. Finally,the extended Kalman filter (EKF)gives the solutions of rovers position,heading and attitude.Simulation results show that this method could obtain higher celestial navigation accuracy in real-time.
YANG Peng XIE Li LIU Jilin
Department of information Science and Electronic Engineering,Zhejiang University,Hangzhou 310027,P.R.China Zhejiang Provincial Key Laboratory of Information Network Technology,Hangzhou 310027,P.R.China
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-6
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）