Dual-mode inertia/vision/astronomical navigation method for lunar surface patrol detector

Abstract

The invention relates to a dual-mode inertia / vision / astronomical navigation method for a lunar surface patrol detector, and the method comprises the steps: employing an inertia / vision / astronomical integrated navigation mode when the lunar surface patrol detector moves, and employing a starlight vector provided by astronomical navigation and the relative position and attitude errors provided by aninertia navigation system and a visual navigation system to correct the attitude error and the inertial device error of the lunar surface patrol detector. When the lunar surface patrol detector is static, the navigation system works in an inertia / astronomy combined navigation mode, and the position and attitude errors of the navigation system can be corrected according to starlight vectors and starlight heights provided by the astronomy navigation system and horizontal speed errors provided by the inertia navigation system. According to the invention, high-precision position, speed and attitude information can be provided for the lunar surface patrol detector, and the method has important practical significance for autonomous navigation of the deep space detector.

Description

technical field [0001] The invention belongs to the field of autonomous navigation of spacecraft, and relates to a dual-mode autonomous inertial / visual / astronomical navigation method suitable for the "stop-and-go" motion mode of a lunar surface inspection probe. Background technique [0002] As an important feature and symbol of a country's comprehensive national strength, military application value and scientific and technological development level, deep space exploration technology has attracted great attention from all countries in the world. With the continuous development of my country's deep space exploration technology, my country's deep space exploration capabilities continue to improve, and my country already has the ability to detect the moon. [0003] Lunar inspection probes such as "Yutu-2" are located on the back of the moon and cannot be directly measured and controlled by ground stations. Although relay satellites can be used for relaying, due to the limited c...

AI Technical Summary

Problems solved by technology

Because the lunar surface inspection probe is affected by the horizontal acceleration when it is moving, it cannot obtain high-precision horizontal information. At this time, celestial navigation cannot provide position information, but can only provide attitude information.

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