一种基于视觉的火星车自主导航方案设计

摘要

Autonomous navigation is an important function for a Mars rover to fulfill missions suc-cessfully, and it is a critical technique need to be solved .Firstly, several different visual locating methods are discussed in this paper , and their advantages and disadvantages are analyzed .Secondly , the attitude determination theory of celestial navigation is pointed out .Lastly, according to the characteristics of iner-tial navigation , visual navigation and celestial navigation , an inertial/visual/celestial autonomous integrat-ed navigation scheme applied to the Mars rover is designed based on the organic integration of the three navigation system information .It can meet the requirements of long time , remote distance and high preci-sion autonomous navigation for rovers in complicated environment .%火星车的自主导航是其顺利完成火星探测任务的重要保障，是目前火星车需要亟待解决的关键技术之一。首先，对几种不同的视觉定位方法进行论述，分析了不同视觉定位方法的优缺点。然后，给出了天文导航系统的定姿原理。最后，根据惯性、视觉、天文三种导航系统各自的特点，设计了一种适用于火星车的惯性／视觉／天文自主组合导航方案，通过有机融合三种导航系统的信息，使该方案能够满足火星车在复杂环境下对长时间、远距离、高精度自主导航的要求。