【作者】 周芳； 张汉清；

【Author】 Fang Zhou;Hanqing Zhang;Nanjing University of Aeronautics and Astronautics,Academy of Astronautics;

【机构】 南京航空航天大学航天学院；

【摘要】 为了满足载人月球车对大范围高精度月面导航的任务要求,提高导航实时性,本文研究了基于扩展卡尔曼滤波的SLAM导航原理;在Mathematica软件环境下,首先,验证EKF-SLAM方法对月球车定位误差与速度误差控制的有效性;然后,对月面自然信标与人造信标两种情况下的SLAM导航精度进行对比;仿真与实验结果表明:采用月面环境特征即自然信标,通过地图匹配实现信标识别的情况下,SLAM技术可以有效降低捷联惯性导航在航位推算时的累积误差,提高月面导航的定位精度;采用人造信标器,通过激光雷达跟踪实现信标识别,导航定位几何构型与导航精度有关,几何构型稳定且均匀分布的情况下,导航精度最高可达0.5m量级,能够满足绝大多数载人月球车探测任务的要求。更多还原

【Abstract】 In order to meet the mission requirements of manned lunar surface to large area and high accuracy lunar navigation, and improve the real-time performance of navigation, this paper studies the principle of SLAM navigation based on EKF. Under the Mathematica software environment. First, the validity of the EKF-SLAM method to control the positioning error and speed error of the lunar rover is verified. Then, the SLAM navigation accuracy is compared with the two cases of the natural beacon and the artificial beacon. The simulation and experimental results show that: through the acquisition of the lunar surface environment features to get map matching, SLAM technology can effectively reduce the cumulative error of strapdown inertia l navigation in the dead reckoning, improve the accuracy of navigation of the lunar; through the artificial beacon, the beacon recognition is realized by the laser radar tracking. The navigation accuracy of navigation and positioning is related to the geometric configuration. When the geometry is stable and the punctuation is evenly distributed, the navigation accuracy is up to 0.5 m magnitude, which can meet the requirements of most manned lunar surface missions.更多还原