A new autonomous celestial navigation method for the lunar rover |
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| Authors: | Xiaolin Ning Jiancheng Fang |
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| Affiliation: | 1. Beijing Institute of Electronic System Engineering, Beijing 100854, China;2. Key Laboratory of Power Station Energy Transfer Conversion and System, Ministry of Education, School of Energy Power and Mechanical Engineering, North China Electric Power University, Beijing 102206, China;1. College of Optoelectronic Science and Engineering, National University of Defense Technology, Changsha 410073, China;2. Institute of metrology of Fujian province, Fuzhou 350000, China |
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| Abstract: | A secure and autonomous navigation system is needed for the lunar rover in future lunar missions in case of emergencies. Celestial navigation is a very attractive solution for long distance navigation on the Moon without the need of ground navigation aids. It only uses star altitudes, which are measured by a high accuracy star sensor and inertial measurement unit (IMU) to estimate the position of the rover. The navigational accuracy of this method depends largely on the accuracy of measurements, so the measurement errors have a great impact on the navigational performance. A new autonomous celestial navigation method for the lunar rover is presented in this paper, which uses the augmented state unscented particle filter (ASUPF) to deal with the systematic error and random error in the measurements. The validity and feasibility of this new method is tested and examined by the hardware-in-loop test. A position estimation error within 60 m is obtained. Compared to the conventional method, this method shows better navigation performance and higher adaptability to these measurement errors. |
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