航天员月面便携式组合导航方法研究

Astronaut lunar surface portable navigation (ALSPN) will provide the precise navigation information to the astronauts for their scientific exploration on the lunar surface.Therefore, ALSPN can ensure the completion of the lunar surface scientific research activity and astronauts' safety. Now the investigation of the ALSPN is constrainted in the landing area and the ALSPN in the full lunar environment has not been investigated. And the traditional navigation mode is inertial navigation (IN) and radio navigation, whose navigation precision trends to be impacted by the lack of the radio signal. Because of the aboving problems, this project aims to investigate the astronaut multi-sensor navigation under the full-lunar-surface environment and simulates four standard lunar surface environments, i.e. lunar polar area, lunar crater's bowel, night lunar surface and lunar surface landing spot. This project will also propose four algorithms, i.e. the IN/radio navigation algorithm with the spiccato signals in the lunar polar area, the vision/laser ranger (LR) stereo matching algorithm in the lunar crater, the infrared/LR navigation algorithm on the night lunar surface, the local navigation algorithm in the lunar landing spot. Furthermore, this project will investigate the multi-model integrated navigation information fusion filtering algorithm and its stability. On the basis of the aboving research, the IN/radio/vision/LR ALSPN simulating platform will be constructed, and the above algorithms will be verified through the experimental testing. This project's completion has important theory significance and actual application value for the foundation of the future astronaut lunar surface navigation system.

航天员月面便携式组合导航将为航天员在月面进行科学探索提供精确的导航信息，从而有效保证月面科研活动顺利完成和航天员人身安全。目前，航天员月面便携式组合导航研究仅仅局限于登陆场，并没有对全月面环境的航天员导航展开研究，惯常采用的导航方式为惯导和无线电导航，其导航精度易受到无线电信号缺失的影响。针对这种情况，本课题旨在对航天员全月面环境下多传感器导航展开研究，模拟月球极区、月球坑内部、晚间月面和月面着陆场四种典型月面环境，提出月面极区断续信号下惯导/无线电导航方法、月球坑内视觉/激光测距立体匹配定位方法、月面晚间红外/激光测距导航方法，月面登陆场局部导航方法，并对多模型组合导航信息融合滤波方法及其稳定性展开研究；在此基础上，建立惯导/无线电/视觉/激光测距航天员月面便携式组合导航仿真平台，并通过实验测试对上述方法进行验证。本课题完成对未来航天员月面导航系统建立具有重要理论意义和实际应用价值。

本项目研究首先建立了月面MEMS惯性导航系统、零速修正导航系统、视觉导航系统和无线电导航系统模型；其次，针对月面图像特征提取与定位问题，提出了基于改进KD树检索的月面图像特征提取和识别方法，提出了基于snake主动轮廓法的月球坑边缘提取方法，提出了基于灰度分割的月面岩石轮廓提取方法，提出了基于粒子群搜索的月面特征点识别方法；最后，针对月面多传感器组合导航问题，设计了月面多传感器组合导航滤波模型，搭建了月面惯导/零速修正/无线电/视觉组合导航仿真系统，分析了月昼、月夜，近场区域和远场区域不同情况对组合导航性能的影响，开展了月面多传感器组合导航仿真验证，仿真结果显示：月面惯导/零速修正/无线电/视觉组合导航定位精度可以达到1m。