Strapdown Relative Inertial Navigation System Design for a Lunar Rover

摘要

To satisfy navigation demands for lunar rover operation in rough, unstructured terrain of lunar surface, a new strapdown relative inertial navigation system (SRINS) is proposed in the paper. Inertial measurements data are generated based on true trajectory of lunar rover and error models of inertial sensors (gyro and accelerometer), which are used to perform high-fidelity simulations to validate the performance of SRINS and conventional SINS (strapdown inertial navigation system) algorithms. Simulation results indicate that SRINS possesses the advantages like better accuracy, more simplicity and feasibility than the latter for lunar navigation. Moreover, the effects of inertial sensors' measurement errors on SINS precision are evaluated.