dual-ekf-based real-time celestial navigation for lunar rover

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ID: 196615
2012
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Abstract
A key requirement of lunar rover autonomous navigation is to acquire state information accurately in real-time during its motion and set up a gradual parameter-based nonlinear kinematics model for the rover. In this paper, we propose a dual-extended-Kalman-filter- (dual-EKF-) based real-time celestial navigation (RCN) method. The proposed method considers the rover position and velocity on the lunar surface as the system parameters and establishes a constant velocity (CV) model. In addition, the attitude quaternion is considered as the system state, and the quaternion differential equation is established as the state equation, which incorporates the output of angular rate gyroscope. Therefore, the measurement equation can be established with sun direction vector from the sun sensor and speed observation from the speedometer. The gyro continuous output ensures the algorithm real-time operation. Finally, we use the dual-EKF method to solve the system equations. Simulation results show that the proposed method can acquire the rover position and heading information in real time and greatly improve the navigation accuracy. Our method overcomes the disadvantage of the cumulative error in inertial navigation.
Reference Key
xie2012mathematicaldual-ekf-based Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors Li Xie, Peng Yang, Thomas Yang, Ming Li
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Journal journal of power sources
Year 2012
DOI
10.1155/2012/578719
URL
http://dx.doi.org/10.1155/2012/578719
Keywords
civil engineering (general)mathematics engineering (general)

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