空间机器人自主定位定向方法研究

摘要

针对机器人在月球或火星上进行采矿的应用背景，研究了切平面捷联惯导方案、视觉定位方案、静态和动态的视觉/惯性组合定位定向方案.所提出的视觉/惯性组合导航系统使惯导系统的导航精度有很大的提高，同时只要求机器人携带很少的设备，大大降低了系统的成本.仿真结果表示该方案可行.%Aiming at the space mobile robot employed in lunar exploration, the scheme of strapdown inertial navigation on tangent plane, the position and orientation method using computer vision are studied in this paper. Also a new inertial/computer vision integrated navigation system is proposed. Static and dynamic algorithms of the integrated navigation system are given. In this system, high precision of navigation is gained while the robot is required to carry fewer devices, which can cut down the cost. Result of simulation is shown at the end of the paper.