SINS (Ship's Inertial Navigation System)/CNS (Celestial Navigation System) deep integrated navigation system of mar rover, and realization method of system

Abstract

The invention provides an SINS (Ship's Inertial Navigation System) / CNS (Celestial Navigation System) deep integrated navigation system of a mar rover. The SINS / CNS deep integrated navigation system comprises an SINS, a CNS, an inertial navigation position unit, an inertial navigation posture unit and a filter, wherein the SINS provides a mathematic platform and a position matrix for the inertial navigation posture unit, and also provides longitude and latitude information for the inertial navigation position unit, the CNS transfers an inertial posture matrix to the filter, the inertial navigation posture unit inputs the constructed inertial posture matrix into the filter, the inertial navigation position unit inputs the constructed position vector information into the filter, and the filter provides posture and position estimation errors for a celestial navigation subsystem and a ship's inertial navigation subsystem respectively. The realization method comprises the following steps: I. helping the SINS to obtain high-precision level reference through a large-field-of-view star-sensor; II. confirming the high-precision level reference-based celestial position vector; III. establishing a state model and a measurement model of the integrated navigation system; IV. fusing information of the integrated navigation system; and V. correcting the errors of all the subsystems through information feedback.

Description

1. Technical field [0001] The present invention provides a SINS / CNS deep integrated navigation system for a Mars rover and its realization method, which relates to a strapdown inertial navigation / celestial navigation (ie: SINS / CNS) deep integrated navigation system for a Mars rover and its realization The method belongs to the technical field of integrated navigation. 2. Background technology [0002] The Mars rover is an important part of Mars exploration. It can replace humans to perform exploration tasks in complex unstructured environments, greatly saving exploration costs, and is currently the most direct and effective tool for close-range exploration of Mars. The rover should have autonomous roaming and detection functions, and be able to automatically drive hundreds of meters or even tens of kilometers on the surface of Mars. The scientific instruments carried by itself can realize simple and direct surveys of the Martian surface environment. To achieve autonomous ro...

AI Technical Summary

Problems solved by technology

Due to the inability to estimate and compensate the error caused by the accelerometer zero bias, the navigation information still diverges

Traditional deep composition cannot satisfy long-running navigation accuracy

[0009] In order to meet the requirements of long-time, high-precision autonomous navigation of the Mars rover, and overcome the limitation of the horizontal reference of astronomical navigation, the present invention proposes a SINS / CNS deep integrated navigation scheme and its implementation method suitable for the Mars rover

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