کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5486660 | 1399471 | 2017 | 18 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
In-motion initial alignment and positioning with INS/CNS/ODO integrated navigation system for lunar rovers
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موضوعات مرتبط
مهندسی و علوم پایه
علوم زمین و سیارات
علوم فضا و نجوم
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چکیده انگلیسی
Many countries have been paying great attention to space exploration, especially about the Moon and the Mars. Autonomous and high-accuracy navigation systems are needed for probers and rovers to accomplish missions. Inertial navigation system (INS)/celestial navigation system (CNS) based navigation system has been used widely on the lunar rovers. Initialization is a particularly important step for navigation. This paper presents an in-motion alignment and positioning method for lunar rovers by INS/CNS/odometer integrated navigation. The method can estimate not only the position and attitude errors, but also the biases of the accelerometers and gyros using the standard Kalman filter. The differences between the platform star azimuth, elevation angles and the computed star azimuth, elevation angles, and the difference between the velocity measured by odometer and the velocity measured by inertial sensors are taken as measurements. The semi-physical experiments are implemented to demonstrate that the position error can reduce to 10Â m and attitude error is within 2â³ during 5Â min. The experiment results prove that it is an effective and attractive initialization approach for lunar rovers.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Advances in Space Research - Volume 59, Issue 12, 15 June 2017, Pages 3070-3079
Journal: Advances in Space Research - Volume 59, Issue 12, 15 June 2017, Pages 3070-3079
نویسندگان
Jiazhen Lu, Chaohua Lei, Yanqiang Yang, Ming Liu,