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《Science Technology and Engineering》 2012-24
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Research of Lunar Rover INS/CNS Navigation Method Based on Unscented Kalman Filter

ZHOU Biao-zhun,PEI Fu-jun,DONG Guo-cheng(School of Electronic Information &Control Engineering,Beijing University of Technology,Beijing 100124,P.R.China)  
The traditional lunar rover navigation estimating methods are the use of Kalman filter,which is appropriate for the situation of that both of the linearized system equation and observation equation.So the linearization error will be introduced to the entire system.Appropriate improvements for this problem are maken.The autonomous navigation method for lunar rover is based on velocity and celestial joint observation.And these observations are used to estimating the lunar rover attitude and position,which will greatly reduce the linearing error and accumulated error.Unscented Kalman filter is used properly to implement optimization estimation in this method.Finally,the simulation results of SIN/CNS demonstrate the validity and feasibility of this method for lunar rover system.
【CateGory Index】: TN967.2;V476.3;TN713
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【Citations】
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【Co-citations】
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