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

A technology of celestial navigation and visual navigation, which is applied in celestial navigation, surveying and navigation, navigation through speed/acceleration measurement, etc. It can solve the problems that celestial navigation cannot provide position information and cannot obtain high-precision level information.

Pending Publication Date: 2020-11-17
BEIHANG UNIV
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  • Abstract
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  • Application Information

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

Method used

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

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Embodiment Construction

[0093] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0094] figure 1 The system flow chart of the dual-mode inertial / visual / celestial navigation method for the lunar surface patrol probe is given. Next, the specific implementation process of the present invention is described in detail:

[0095] Inertial / visual / celestial navigation mode when the lunar patrol probe is in motion:

[0096] ①Establish the state model of the inertial / visual / celestial navigation system when the lunar patrol probe moves ...

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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...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/02
CPCG01C21/165G01C21/025
Inventor 吴伟仁宁晓琳黄月清
Owner BEIHANG UNIV
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