关键词: 惯性视觉组合导航, 观测模型, 月面巡视器, 四元数, 误差分析

Abstract: TheINS/VNSintegratednavigationisanimportantautonomousnavigationmethodforlunarrovers.TraditionalINS/VNSintegrated navigationmethodswhichutilizetherelativemotiondifferencesbetweentheinertialandthevisionasmeasurements,usually makeanapproximationbetweentheinertialattitudeerrorsandthemisalignmentangletosimplifytherelativerotation measurementmodel.However,theapproximationerrorcanexceedthemisalignmentanglewhentheheadislarge,which cannotbeignored. Tosolvethisproblem,anewmeasurementerroranalysismethodwaspresentedwhichcanavoidthe approximationintraditionalmethod,andbuildthecorrespondingimprovedmeasurementmodel. Theknowninertialattitudewhichcontainserrorutilizedtogetmoreaccurateerrorexpressionofrelativeinertialrotationquaternion,andreducetheforecasterrorofrelative rotationdifferencebetweentheinertialandthevision.BothoftheMoonbasedsimulationandtheEarth-basedexperiment demonstratethatthepresentedmethodiseffectiveandcanachievehigheraccuraciesofpositionsandattitudesthanthe traditionalone,inwhichthepositionaccuracyhasimproved68%from0.456%to0.143%intheEarth-basedexperiment.

Key words: Inertial/Visionintegratednavigation, Measurementmodel, Lunarrover, Quaternion, Erroranalysis