Volume 35 Issue 6
Nov.  2015
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Xu Yongzhi, Ning Xiaolin. A New INS/VNS Integrated Navigation Method for Planetary Exploration Rover[J]. Journal of Space Science, 2015, 35(6): 721-729. doi: 10.11728/cjss2015.06.721
Citation: Xu Yongzhi, Ning Xiaolin. A New INS/VNS Integrated Navigation Method for Planetary Exploration Rover[J]. Journal of Space Science, 2015, 35(6): 721-729. doi: 10.11728/cjss2015.06.721

A New INS/VNS Integrated Navigation Method for Planetary Exploration Rover

doi: 10.11728/cjss2015.06.721
  • Received Date: 2014-09-16
  • Rev Recd Date: 2015-03-14
  • Publish Date: 2015-11-15
  • In traditional INS/VNS integrated navigation, the motion errors are usually used as the state vector, and relative motion errors between the inertial and vision navigation are used as the measurement. Since the relative motion is related to both the last and current states, traditional methods augment the position and attitude errors at the last time to the state vector to build the measurement model. The augmented states are considered as constant, and it generates new errors into the state model. Meanwhile, the measurement errors are analyzed based on ideal positions and attitudes at both the last and current time, which results in the measurement relationship with both the last and the current states. In this paper, a new INS/VNS model uses INS error equation as the state model, relative motion errors as the measurement, and attitude errors are described as quaternion error in the measurement model. The analyses of measurement errors are based on the integrated navigation estimation positions and attitudes at the last time, hence it does not need to augment the state, so the measurement only relates to the current state. The lunar surface simulation and experiment on the ground both show that the represented INS/VNS method can achieve high position and attitude estimation accuracy.


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