A long-range and highly reliable autonomous navigation method based on SINS/VNS/CNS was proposed targeting the application requirements of lunar surface exploration within complex and unstructured environment. On the basis of establishing measurement models which were tight SINS/CNS combination based on original observation angle and improved SINS/CNS model, self-a-daptive filtering algorithm considering asynchronous measurement characteristics was used to improve the accuracy and reliability of autonomous navigation for lunar rover. Mathematical simulation results showed that this method had satisfactory accuracy for absolute position and attitude determination, which were better than 60 m and 0. 1°, with high reliability and robustness, and could meet the au-tonomous navigation application requirement.%针对复杂非结构化月面上高精度巡视自主导航的应用需求,提出了一种基于惯导/视觉/天文组合的长距离高可靠自主导航方法.在建立惯性/天文基于原始观测角度信息紧耦组合量测模型和惯性/视觉改进量测模型的基础上,采用异步量测特性的集中自适应滤波算法提高了月面巡视器自主导航系统的导航精度和可靠性.数学仿真结果表明,该方法具有较高的绝对定位和定姿精度,位置和姿态精度分别优于60 m和0.1°,并且具有较高的可靠性和鲁棒性,能够满足月面巡视高精度自主导航的要求.
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