月球车DR/CNS组合导航研究

摘要

This paper presents a lunar DR/CNS integrated navigation scheme against the lunar's characteristics of weak magnetic, high dust, slow self-spin, off-satellite and lunar-rovers ultra-low speed which lead the failure of most conventional navigation methods. The proposed method uses dead- reckoning to calculate the definite displacement and uses solar compass to determine the heading angle. This paper makes a research from the source of system errors and non- system errors with dead- reckoning while establishes a model for the odometer error. A self-developed solar compass has been introduced on the base of comprehensive consideration with the specificity of the moon's surface environment. Experimental results show the feasibility and effectiveness of the integrated navigation.%针对月面环境弱地磁、高粉尘、慢自旋、无卫星及月球车超低速,大多传统导航方法失效的问题,设计了以航位推算确定位移、太阳罗盘确定航向角的月球车DR/CNS组合导航方案;分别从航位推算的系统误差和非系统误差来源研究,并建立了里程计误差模型;在充分考虑到月面环境特殊性的基础上,自主研制了太阳罗盘;实验证明了该组合导航方案的可行性和有效性.