An Improved INS/VNS Integrated Navigation Measurement Model for Lunar Rover

DOI

10.2991/meic-14.2014.224How to use a DOI?

Keywords

Inertial navigation Vision navigation Integrated navigation Measurement model Lunar rover

Abstract

The INS/VNS integrated navigation is an important autonomous navigation method for lunar rovers. The INS/VNS models usually utilize the relative motion differences between the inertial and the vision as measurements. Traditional INS/VNS models make an approximation between definitions of the inertial measured attitude error and the misalignment angle to simplify the measurement model of relative rotation difference. This paper finds that the norm of the approximation error can exceed the norm of misalignment angle when the yaw is large, which cannot be ignored. Furthermore, an improved measurement model without that approximation is presented, in which the definition of inertial measured attitude error and the misalignment angle is accurately matched. Lunar-based simulation and earth-based experiment both demonstrate that the presented model is effective and the method used the proposed model can achieve higher accuracy of positions and attitudes than that used the traditional model.

Copyright

© 2014, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Yongzhi Xu
AU  - Xiaolin Ning
PY  - 2014/11
DA  - 2014/11
TI  - An Improved INS/VNS Integrated Navigation Measurement Model for Lunar Rover
BT  - Proceedings of the 2014 International Conference on Mechatronics, Electronic, Industrial and Control Engineering
PB  - Atlantis Press
SP  - 1000
EP  - 1005
SN  - 2352-5401
UR  - https://doi.org/10.2991/meic-14.2014.224
DO  - 10.2991/meic-14.2014.224
ID  - Xu2014/11
ER  -