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李硕, 余萌, 曹涛, 郑博, 胡涛. 基于路标重观测的月面巡视器激光雷达定位方法研究[J]. 深空探测学报(中英文), 2022, 9(6): 625-632. DOI: 10.15982/j.issn.2096-9287.2022.20220090
引用本文: 李硕, 余萌, 曹涛, 郑博, 胡涛. 基于路标重观测的月面巡视器激光雷达定位方法研究[J]. 深空探测学报(中英文), 2022, 9(6): 625-632. DOI: 10.15982/j.issn.2096-9287.2022.20220090
LI Shuo, YU Meng, CAO Tao, ZHENG Bo, HU Tao. Research on the Lidar Positioning Method of Lunar Rover Based on Landmark Re-Observation[J]. Journal of Deep Space Exploration, 2022, 9(6): 625-632. DOI: 10.15982/j.issn.2096-9287.2022.20220090
Citation: LI Shuo, YU Meng, CAO Tao, ZHENG Bo, HU Tao. Research on the Lidar Positioning Method of Lunar Rover Based on Landmark Re-Observation[J]. Journal of Deep Space Exploration, 2022, 9(6): 625-632. DOI: 10.15982/j.issn.2096-9287.2022.20220090

基于路标重观测的月面巡视器激光雷达定位方法研究

Research on the Lidar Positioning Method of Lunar Rover Based on Landmark Re-Observation

  • 摘要: 在未来月面漫游巡视探测任务中,月球表面存在路况崎岖不平、缺乏结构化场景、表面纹理贫瘠等不利因素,为提升月面巡视器激光雷达定位精度,提出了一种历史路标重观测的月面巡视器激光雷达定位方法。首先对当前探测视野的点云地貌定时进行显著性研判,并提取重观测的路标,根据实时监测巡视器位姿状态估计确定路标重观测的触发时刻,最终通过点云配准获得精确位姿。仿真结果表明,路标重观测方法可将系统历史位姿估计与当前点云观测进行融合互补,有效抑制噪声引起的数据漂移,提高了月面巡视器定位精度。

     

    Abstract: In future lunar surface roaming and inspection missions, considering the some adverse factors on the lunar surface, such as rugged road conditions, lack of structured scenes, poor surface texture and so on, a method of active re-observation of historical landmarks was proposed to improve positioning accuracy of lunar rover lidar. Firstly, the significance of the point cloud landform in the current detection field was studied and judged at the fixed time, and re-observed landmarks were extracted. The trigger time of re-observation was determined according to the position and attitude estimation of the real-time monitoring inspector. Finally, point cloud matching algorithm was used to obtain the accurate position and attitude. Simulation results show that the active re-observation method fuses the historical position and attitude estimation of the system with uses the historical position and attitude estimation of the system with current observations, suppresses data drift caused by noise, and improves positioning accuracy of the lunar rover.

     

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