月球着陆器悬停阶段相对自主导航方法

月球着陆器着陆阶段导航信息分析是实现安全软着陆月面的一个关键.针对悬停阶段导航信息的要求，根据月球着陆器携带的仪器设备及其获取月面信息的特点，利用激光测距仪和光学导航相机进行光学相对导航.首先建立相对导航坐标系；其次根据各个坐标系之间的关系确定各转换矩阵和导航信息，估算着陆器相对月面着陆点的位置和姿态；最后通过仿真实验对该方法进行验证.结果表明，将激光测距仪和光学导航相机在着陆悬停阶段获取的月面信息进行融合，能快速、精确进行相对位置、姿态计算；对我国下一步的探月有重要应用价值，并可应用于火星探测和其他小行星探测的软着陆的近距相对导航. 

Hover-stage lunar lander autonomous relatively navigation

The lunar lander landing phase navigation information analysis is a key to achieve the safety soft landing on lunar surface. According to requirements for the hover-stage navigation, the lunar lander carrying equipment and its access to the characteristics of the lunar surface, laser rangefinder and optical navigation camera optical were used in autonomous relative navigation. A coordinate system relative navigation was created. According to the relationship between the various coordinate systems, the transformation matrix and navigation information was determined, the position and attitude of the lander relative lunar landing point was estimated. Finally, the method was verified by simulation experiments. Results show that this method can calculate relative position, posture fast and accurately. The method is valuable for further steps of moon exploration projects, and can be used as soft-landing close relative navigation for Mars and other asteroids exploration.