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火星探测车需要在复杂非结构化火星地表环境下完成自主导航定位任务。针对火星车导航定位传感器的低功耗、微型化的发展趋势,提出一种基于MEMS-IMU的传感器补偿融合、单目视觉航向测定的方法。该方法能克服火星复杂地表和单一性地貌环境可能导致的测试误差过大问题。模拟环境下的实验数据结果显示该方法具备实时性好、可靠性高的特点,姿态估计和航向测量的准确率较高。
Mars exploration rover needs to complete autonomous navigation and positioning tasks in the complex unstructured Mars surface environment. In view of the development trend of low power consumption and miniaturization of the rover navigation and positioning sensor, a MEMS-IMU-based sensor compensation fusion and monocular vision and heading method is proposed. This method can overcome the problem of excessive test error caused by the complex surface of Mars and the single geomorphic environment. Experimental results under simulated conditions show that this method has the characteristics of good real-time and high reliability, and the accuracy of attitude estimation and heading measurement is high.