航空兵器Issue(1)：23-27,5.
一种基于视觉的火星车自主导航方案设计
A Design of Autonomous Navigation Scheme Based on Vision for the Mars Rovers
摘要
Abstract
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 .关键词
火星车/惯性导航/视觉导航/天文导航Key words
Mars rover/inertial navigation/visual navigation/celestial navigation分类
航空航天引用本文复制引用
管叙军,王新龙..一种基于视觉的火星车自主导航方案设计[J].航空兵器,2015,(1):23-27,5.基金项目
国家自然科学基金资助项目（61233005）；宇航动力学国家重点实验室基金资助项目 （）
