【摘要】 针对月球特殊的工作环境,阐述了现有技术条件下,我国自主式月球探测车采用惯性导航系统进行位姿确定时,航向角参数误差随着时间不断累积的缺点,进而提出了一种基于星历表数据和恒星敏感器相结合的月球车航向角精确值的确定算法,定期对惯性导航系统中的航向角参数进行修正,以提高月球车位置和姿态精度。重点介绍了航向角精确值的确定步骤,并对由航向角误差引起的定位误差进行了仿真分析,仿真结果证明了航向角修正的必要性和此方法的可行性。更多还原

【Abstract】 As a special work environment on the moon,the necessity of the inertial system used for localization of autonomous lunar rover is ex- plained.In order to overcome the error of heading increment with the time,which can influence the accuracy of the localization and pose of lu- nar rover,a theory used for the precise heading detection and error correcting based on star sensor and ephemeris data is presented.The step of calculating the precise heading is introduced in detail.Simulation result shows the necessity and validity of the method.更多还原