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A Celestial Assisted INS Initialization Method for Lunar Explorers
School of Instrumentation Science & Opto-electronics Engineering, BeiHang University (BUAA), Beijing 100191, China
* Author to whom correspondence should be addressed.
Received: 8 May 2011; in revised form: 24 June 2011 / Accepted: 26 June 2011 / Published: 4 July 2011
Abstract: The second and third phases of the Chinese Lunar Exploration Program (CLEP) are planning to achieve Moon landing, surface exploration and automated sample return. In these missions, the inertial navigation system (INS) and celestial navigation system (CNS) are two indispensable autonomous navigation systems which can compensate for limitations in the ground based navigation system. The accurate initialization of the INS and the precise calibration of the CNS are needed in order to achieve high navigation accuracy. Neither the INS nor the CNS can solve the above problems using the ground controllers or by themselves on the lunar surface. However, since they are complementary to each other, these problems can be solved by combining them together. A new celestial assisted INS initialization method is presented, in which the initial position and attitude of the explorer as well as the inertial sensors’ biases are estimated by aiding the INS with celestial measurements. Furthermore, the systematic error of the CNS is also corrected by the help of INS measurements. Simulations show that the maximum error in position is 300 m and in attitude 40″, which demonstrates this method is a promising and attractive scheme for explorers on the lunar surface.
Keywords: lunar exploration; autonomous initialization; inertial navigation; celestial navigation
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MDPI and ACS Style
Ning, X.; Wang, L.; Wu, W.; Fang, J. A Celestial Assisted INS Initialization Method for Lunar Explorers. Sensors 2011, 11, 6991-7003.
Ning X, Wang L, Wu W, Fang J. A Celestial Assisted INS Initialization Method for Lunar Explorers. Sensors. 2011; 11(7):6991-7003.
Ning, Xiaolin; Wang, Longhua; Wu, Weiren; Fang, Jiancheng. 2011. "A Celestial Assisted INS Initialization Method for Lunar Explorers." Sensors 11, no. 7: 6991-7003.