【摘要】 提出了一种基于纯天文观测的火星车自主天文导航新方法．该方法仅需利用由星敏感器视场内测量得到的火星卫星(火卫一、火卫二)和某一恒星之间的星光角距,结合火星车的运动模型,通过Unscented粒子滤波方法,即可获得高精度的火星车实时位置信息,计算机仿真结果表明丁该方法的有效性,同时对几个关键的精度影响因素进行了仿真分析．更多还原

【Abstract】 It is essential for a Martian rover to know its position in order to fulfill a task. For there are some disadvantages of the rover controlled and navigated by ground station. The autonomous navigation and control of planet rover have become an important topics. Since the celestial navigation method has become one of the main trends of mobile robots navigation development, a new Autonomous navigation method for Martian rover based on celestial observation is described in this paper. This method only uses the angles between the stars and the center of Martian moons, Phobos or Deimos, which are got from an image of such objects taken by a star camera. At a given time these angles contains the information of rover’s position, we can determine the position of Martian rover by the UPF (Unscented Particle Filter) method combined with the rover motion model. A simulation result demonstrated the validity and feasibility of this new method. The main factors which affect the precision, including measurement error and ephemeris error, are also analyzed.更多还原