| 基于地球敏感器和加速度计的月球车自主定向算法研究 |
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| 引用本文： | 岳富占,崔平远,崔祜涛,居鹤华.基于地球敏感器和加速度计的月球车自主定向算法研究[J].宇航学报,2005,26(5):553-557. |
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| 作者姓名： | 岳富占 崔平远 崔祜涛 居鹤华 |
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| 作者单位： | 哈尔滨工业大学,深空探测基础研究中心,哈尔滨,150001 |
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| 摘 要： | 月球车定向是月球车导航的一个重要组成部分，它是月球车定位的基础和前提。针对这一问题，提出了一种适用于月球车长时间、长距离导航的绝对定向算法。该算法利用非线性最小二乘平差原理对CCD地球敏感器成像进行处理，实现了在月球表面CCD地球敏感器的矢量观测功能。结合加速度计的测角原理，实现了航向角确定。以理论分析和实际推算描述了该定向方法的具体实现过程，最后以仿真结果验证了该方案的可行性，为未来我国月球探测中月球车的实际应用提供了技术参考。
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| 关 键 词： | CCD地球敏感器 加速度计 最小二乘平差 月球车 航向角 |
| 文章编号： | 1000-1328（2005）05-0553-05 |
| 收稿时间： | 10 20 2004 12:00AM |
| 修稿时间： | 2004-10-202005-02-25 |
Earth Sensor and Accelerometer Based Autonomous Heading Detection Algorithm Research of Lunar Rover |
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| YUE Fu-zhan,CUI Ping-yuan,CUI Hu-tao,JU He-hua.Earth Sensor and Accelerometer Based Autonomous Heading Detection Algorithm Research of Lunar Rover[J].Journal of Astronautics,2005,26(5):553-557. |
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| Authors: | YUE Fu-zhan CUI Ping-yuan CUI Hu-tao JU He-hua |
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| Institution: | Deep Space Exploration Research Center, Harbin Institute of Technology, Harbin 150001, China |
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| Abstract: | Lunar rover heading detection is one of the most important part of rover localization. In this thesis, a absolute heading detection algorithm, which can be applicable in long-range and long duration navigation of lunar rover, is presented. Nonlinear least squares bundle adjustment is used to process the images from CCD earth sensor, consequently, the vector observation function of CCD earth sensor is achieved on lunar environment. Also based on the altitude information from accelerometer, the heading of lunar rover is calculated with a high-efficiency algorithm. The feasibility of this scenario is verified by digital simulation. |
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| Keywords: | CCD earth sensor Accelerometer Bundle adjustment Lunar rover Heading |
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