【摘要】 作为航天技术发展的前沿和趋势,深空探测是人类历史上最为复杂的系统工程之一。星球巡视器是在星球表面移动作业的无人探测系统,能够对星球表面进行大面积、近距离和接触式的考察,是地外星球着陆探测作业的主要手段。星球巡视器导航技术是研究星球巡视器的关键技术之一,其导航自主性能直接影响星球探测计划能否顺利进行。本文首先概述了星球巡视器自主导航技术内涵,介绍了国内外巡视器导航技术的研究现状,分析了自主导航技术中地图建模、定位算法与路径规划技术的发展过程,最后指出了星球巡视器导航技术所要急需突破的几个关键技术与发展方向。更多还原

【Abstract】 As the frontier in the development of aerospace technology,deep space exploration is one of the most complex system engineering in human history. Planetary patrol is an unmanned detection system that operates on the surface of the planet. It can carry out large-scale,close-range and contact investigations on the surface of the planet. It is the main method for detecting the landing of extraterrestrial planets. Planet voyager navigation technology is one of the key technologies for studying the planetary voyager. Whether the planetary exploration program can be carried out smoothly will be directly affected by its autonomous navigation performance. First,the general background and concepts of the autonomous navigation technology of the planetary rovers are introduced,and then the development history and current status of the technology are described. With analysis of the research status,the limitations of current technology on the simultaneous localization and mapping(SLAM)and path planning are pointed out,followed by the prediction of the development tendency in several aspects.更多还原