嫦娥三号巡视器的惯导与视觉组合定姿定位

针对“嫦娥三号”的“玉兔号”巡视器在月面未知环境中避障与安全行进的要求,分析和阐述了“玉兔号”巡视器在地面遥操作中心的控制下利用惯导和视觉组合进行月面导航与精确定位的实现方法,并结合现有的导航定位研究对“玉兔号”巡视器导航与定位的工程创新性进行了总结,阐明了惯导定位和视觉定位技术在“玉兔号”巡视器月面探测过程中的工程应用特点.最后,通过“玉兔号”巡视器着月点的精确定位实验,验证惯导和视觉相结合的定位方法的有效性,定位精度近似达到总行驶里程的1％,这对“玉兔号”巡视器开展月面探索和准确抵达科学目标位置具有重要作用.

Integrated INS and Vision-Based Orientation Determination and Positioning of CE-3 Lunar Rover

Technical details are presented for implementation of moon surface navigation and accurate positioning of Yutu rover of CE-3 （Chang＇e-3） probe with integrated INS （Inertial Navigation System） and visiombased positio ning under control of the ground operation and control center to meet requirements for obstacle-avoidance and safe travelling in the unknown environment on the moon. In combination with existing research on navigation and positio- ning, engineering innovation of navigation and positioning of the rover is summarized. The features of engineering application of INS and vision-based positioning in exploration of moon surface by the rover are described. The inte grated INS and vision-based method is validated through accurate positioning test of Yutu rover at the landing point on the moon. The positioning accuracy is about 1% of the total travelling distance. The result is of high significance to accurate landing of Yutu rover on the moon and its science exploration on moon surface.