In lunar exploration, lunar rover's position and attitude should be measured so that rover can run in planned path and assure its safety. Several locating methods can be taken. In this paper, a new method of lunar rover locating helped by lunar lander stereovision is presented, which uses lunar lander stereo cameras on mast to track rover's motion and calculate its position and attitude. This method is more precise and can rectify other methods locating error and reduce rover's calculation. First, the stereo cameras on mast of lunar lander take images of lunar environment and then these images are processed with color image segmentation technology and the lunar rover is identified from lunar background, then character points are searched in stereo image pairs and their three dimension coordinates are calculated by stereo disparity diagram. With the acquired more character points' 3D information, lunar rover's position and attitude can be calculated. In order to satisfy the need of lunar locating at all time, a Kalman filter is used. The experiment results show that in lunar lander vision field this method measures precisely and can satisfy the need of lunar rover locating.%在月面巡视探测器漫游过程中,需要测量月面巡视探测器的位置和姿态信息,以使巡视探测器行驶在规划好的路径上,并确保其安全.定位系统可以采取多种方式.在文章中,利用着陆器立体视觉系统对月面巡视探测器定位方法进行了研究,它采用立体视觉测量技术以及彩色图像分割的方法,进行跟踪测量月面巡视探测器位姿信息,能够对惯导系统加里程计的定位方法进行修正,减小月面巡视探测器的计算工作量.在定位方法的研究中,采用彩色图像分割方法对月面巡视探测器进行识别,能够适应变光照条件,并且运算速度快,达到实时图像伺服控制的目的.通过月面巡视探测器上制作特征点及采用基于四边形约束的特征点匹配方法,提高了图像匹配概率.通过卡尔曼滤波技术,能够满足任意时刻的月面巡视探测器定位要求.
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