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An innovative high accuracy autonomous navigation method for the Mars rovers

机译：一种创新的高精度火星探测器自主导航方法

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摘要

Autonomous navigation is an important function for a Mars rover to fulfill missions successfully. It is a critical technique to overcome the limitations of ground tracking and control traditionally used. This paper proposes an innovative method based on SINS (Strapdown Inertial Navigation System) with the aid of star sensors to accurately determine the rover's position and attitude. This method consists of two parts: the initial alignment and navigation. The alignment consists of a coarse position and attitude initial alignment approach and fine initial alignment approach. The coarse one is used to determine approximate position and attitude for the rover. This is followed by fine alignment to tune the approximate solution to accurate one. Upon the completion of initial alignment, the system can be used to provide real-time navigation solutions for the rover. An autonomous navigation algorithm is proposed to estimate and compensate the accumulated errors of SINS in real time. High accuracy attitude information from star sensor is used to correct errors in SINS. Simulation results demonstrate that the proposed methods can achieve a high precision autonomous navigation for Mars rovers.
机译：自主导航是火星探测器成功完成任务的重要功能。克服传统上地面跟踪和控制的局限性是一项关键技术。本文提出了一种基于SINS（捷联惯性导航系统）的创新方法，借助星传感器来准确确定漫游者的位置和姿态。此方法包括两部分：初始对齐和导航。对准包括粗略的位置和姿态初始对准方法和精细初始对准方法。粗略的一种用于确定流动站的大致位置和姿态。接下来是精细对齐，以将近似解调整为准确的解。初始对准完成后，该系统可用于为流动站提供实时导航解决方案。提出了一种自主导航算法来实时估计和补偿SINS的累积误差。来自恒星传感器的高精度姿态信息用于纠正SINS中的错误。仿真结果表明，所提出的方法可以实现火星漫游者的高精度自主导航。

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  • 来源
    《Acta astronautica》 |2014年第1期|266-275|共10页
  • 作者

    Xujun Guan; Xinlong Wang; Jiancheng Fang; Shaojun Feng;

  • 作者单位

    School of Astronautics, Beihang University, Beijing 100191, China;

    School of Astronautics, Beihang University, Beijing 100191, China;

    School of Instrumentation Science & Opto-electronics Engineering, Beihang University, Beijing 100191, China;

    Centre for Transport Studies, Department of Civil and Environmental Engineering, Imperial College London, SW7 2AZ, United Kingdom;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Mars rover; Autonomous navigation; SINS; Star sensor;

    机译：火星探测器;自主导航;罪恶;星形传感器;

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