中国惯性技术学报
中國慣性技術學報
중국관성기술학보
JOURNAL OF CHINESE INERTIAL TECHNOLOGY
2014年
2期
141-148
,共8页
月球车%自主初始化%惯性导航%天文导航
月毬車%自主初始化%慣性導航%天文導航
월구차%자주초시화%관성도항%천문도항
lunar rover%autonomous initialization%inertial navigation system%celestial navigation system
月球车工作前自身初始位置和姿态的确定对提高其导航能力具有重要作用，这一过程也称为初始化，初始化精度将严重影响其后续导航性能。针对月面特殊环境，现有的应用于地面环境的初始化方法不再适用这一问题，提出了一种静止条件下的月球车INS/CNS自主初始化方法。该方法分为粗初始化和精初始化两个阶段，粗初始化主要为精初始化提供初始参数。精初始化则综合利用惯性导航解算得到的水平速度、星光方位矢量和天体高度量测信息，并在考虑加速度计偏置引起的天体高度误差的基础上建立了精确的天体高度量测方程，精确估计月球车的初始位置和姿态。半物理仿真实验表明当陀螺漂移为0.1(°)/h、加速度计偏置为10?g、星敏感器精度为3″时，采用所提方法的初始位置估计精度优于30 m，初始姿态估计精度优于10″，是一种非常有效的月球车自主初始化方法。
月毬車工作前自身初始位置和姿態的確定對提高其導航能力具有重要作用，這一過程也稱為初始化，初始化精度將嚴重影響其後續導航性能。針對月麵特殊環境，現有的應用于地麵環境的初始化方法不再適用這一問題，提齣瞭一種靜止條件下的月毬車INS/CNS自主初始化方法。該方法分為粗初始化和精初始化兩箇階段，粗初始化主要為精初始化提供初始參數。精初始化則綜閤利用慣性導航解算得到的水平速度、星光方位矢量和天體高度量測信息，併在攷慮加速度計偏置引起的天體高度誤差的基礎上建立瞭精確的天體高度量測方程，精確估計月毬車的初始位置和姿態。半物理倣真實驗錶明噹陀螺漂移為0.1(°)/h、加速度計偏置為10?g、星敏感器精度為3″時，採用所提方法的初始位置估計精度優于30 m，初始姿態估計精度優于10″，是一種非常有效的月毬車自主初始化方法。
월구차공작전자신초시위치화자태적학정대제고기도항능력구유중요작용，저일과정야칭위초시화，초시화정도장엄중영향기후속도항성능。침대월면특수배경，현유적응용우지면배경적초시화방법불재괄용저일문제，제출료일충정지조건하적월구차INS/CNS자주초시화방법。해방법분위조초시화화정초시화량개계단，조초시화주요위정초시화제공초시삼수。정초시화칙종합이용관성도항해산득도적수평속도、성광방위시량화천체고도량측신식，병재고필가속도계편치인기적천체고도오차적기출상건립료정학적천체고도량측방정，정학고계월구차적초시위치화자태。반물리방진실험표명당타라표이위0.1(°)/h、가속도계편치위10?g、성민감기정도위3″시，채용소제방법적초시위치고계정도우우30 m，초시자태고계정도우우10″，시일충비상유효적월구차자주초시화방법。
The determination of initial position and attitude of lunar rover has great influence on its naviga-tion performance. The initialization accuracy has significant impact on the overall navigation accuracy. Since the traditional initial alignment method is not suitable for the lunar special environment, this paper presents a new autonomous initialization method for lunar rover based on INS/CNS integration. The method is divided into two stages: coarse initialization stage and fine initialization stage. The coarse initialization stage is mainly used to provide the initial parameters for the fine initialization stage. In the fine initialization stage, the horizontal velocity errors of INS, starlight vectors and star altitudes are used as measurements. The star altitude error caused by the biases of accelerometers is taken into account and its corresponding measurement equation is accurately established. Based on this, the position and attitude of the rover is estimated accurately. Semi-physics experiments show that the position precision is better than 30 m and the attitude precision is better than 10″when the gyroscope drift is 0.1 (°)/h, the accelerometer bias is 10?g and the star sensor accu-racy is 3″. These results demonstrate that it is a promising and attractive autonomous initialization method for lunar rovers.
