Dual-EKF-based real-time celestial navigation for lunar rover
type: Item
instance of: scholarly article
title: Dual-EKF-based real-time celestial navigation for lunar rover
zbMATH Open document ID: 1264.70063
DOI: 10.1155/2012/578719
author: Li Xie
author: Peng Yang
author: Ming Li
author: Thomas Yang
published in: Mathematical Problems in Engineering
publication date: 2013-06-11T00:00:00Z
review text: Summary: A key requirement of lunar rover autonomous navigation is to acquire state information accurately in real-time during its motion and set up a gradual parameter-based nonlinear kinematics model for the rover. In this paper, we propose a dual-extended-Kalman-filter- (dual-EKF-) based real-time celestial navigation (RCN) method. The proposed method considers the rover position and velocity on the lunar surface as the system parameters and establishes a constant velocity (CV) model. In addition, the attitude quaternion is considered as the system state, and the quaternion differential equation is established as the state equation, which incorporates the output of angular rate gyroscope. Therefore, the measurement equation can be established with sun direction vector from the sun sensor and speed observation from the speedometer. The gyro continuous output ensures the algorithm real-time operation. Finally, we use the dual-EKF method to solve the system equations. Simulation results show that the proposed method can acquire the rover position and heading information in real time and greatly improve the navigation accuracy. Our method overcomes the disadvantage of the cumulative error in inertial navigation.
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 70B15
Mathematics Subject Classification ID: 93C95
Mathematics Subject Classification ID: 93E11
zbMATH DE Number: 6173395
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2012/578719
OpenAlex ID: W2037748149
Wikidata QID: Q58912162
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description: scientific article; zbMATH DE number 6173395