A high-accuracy two-position alignment inertial navigation system for lunar rovers aided by a star sensor with a calibration and positioning function

作者：Lu, Jiazhen^*; Lei, Chaohua; Yang, Yanqiang; Liu, Ming

来源：Measurement Science and Technology, 2016, 27(12): 125102.

DOI：10.1088/0957-0233/27/12/125102

• INS/CNS
• IMU calibration
• two-position alignment
• positioning
• initialization

An integrated inertial/celestial navigation system (INS/CNS) has wide applicability in lunar rovers as it provides accurate and autonomous navigational information. Initialization is particularly vital for a INS. This paper proposes a two-position initialization method based on a standard Kalman filter. The difference between the computed star vector and the measured star vector is measured. With the aid of a star sensor and the two positions, the attitudinal and positional errors can be greatly reduced, and the biases of three gyros and accelerometers can also be estimated. The semi-physical simulation results show that the positional and attitudinal errors converge within 0.07 '' and 0.1 m, respectively, when the given initial positional error is 1 km and the attitudinal error is 10 degrees. These good results show that the proposed method can accomplish alignment, positioning and calibration functions simultaneously. Thus the proposed two-position initialization method has the potential for application in lunar rover navigation.

• 出版日期2016-12
• 单位北京航空航天大学