کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
1717700 1520086 2016 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
INS/VNS/CNS integrated navigation method for planetary rovers
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
پیش نمایش صفحه اول مقاله
INS/VNS/CNS integrated navigation method for planetary rovers
چکیده انگلیسی
Planetary rovers play an important role in deep space exploration missions. Inertial navigation system (INS), visual navigation system (VNS) and celestial navigation system (CNS) are three commonly used autonomous navigation systems for rovers. Although INS and VNS have high precision, their navigation errors especially the yaw angle error accumulate over time. CNS can make up for this shortage and provide accurate yaw angle information. Since INS, VNS and CNS have complementary characteristics, an integrated navigation system composed of them helps to improve the navigation accuracy and reliability. In this paper, an INS/VNS/CNS integrated navigation method for planetary rovers is presented. The INS error equation expressed in the navigation frame is used as state model. The relative motion error obtained by INS and VNS and the starlight vector provided by CNS are used as measurements. The unscented Kalman filter (UKF) is utilized to perform state estimation. Hardware-in-the-loop simulations show that the proposed method can remarkably improve the estimation accuracy of position and attitude compared with the INS, VNS, INS/VNS and INS/CNS navigation methods.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Aerospace Science and Technology - Volume 48, January 2016, Pages 102-114
نویسندگان
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