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针对月球车定位,设计和推导了一种基于甚长基线干涉测量(very long baseline interferometry,VLBI)和天文导航系统(celestial navigation system,CNS)相结合的月球车联合定位方法,并采用联邦卡尔曼滤波来实现位置信息的最优估计以增强系统的可靠性和容错能力。最后,通过嫦娥-3号(CE-3)实测数据的解算证明了该方法较使用最小二乘法进行联合解算和单独采用VLBI方法定位,可以获得更高的月球车定位精度。同时,也有效地保障了月球车定位的可靠性和稳定性。
A lunar rover co-location method based on the combination of very long baseline interferometry (VLBI) and celestial navigation system (CNS) is designed and derived for lunar rover positioning. Federated Kalman Filtering to achieve the optimal location of the information to enhance the reliability and fault tolerance of the system. Finally, the solution of the measured data from Chang’e-3 (CE-3) proves that this method can achieve higher positioning accuracy of lunar rover than the joint method of least square method and VLBI method alone. At the same time, it also effectively guarantees the reliability and stability of the lunar rover positioning.