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为获得月球车在轨移动过程中的位置信息,提出了基于立体图像的月球车导航定位算法.首先阐述了月球车导航定位算法原理,包括坐标系转换体系、月球车立体图像相对定向、月球车立体模型绝对定向和连接点坐标观测量权值,然后给出了月球车导航定位流程.最后,通过我国月球车的专项试验,验证了基于立体图像的月球车导航定位算法,具有较高的定位精度和应用稳定性.
In order to obtain the position information of the lunar rover moving in the orbit, a lunar rover navigation and positioning algorithm based on stereo image is proposed.Firstly, the principle of lunar rover navigation and positioning algorithm is expounded, including coordinate system conversion system, lunar rover relative orientation, lunar rover The absolute orientation of the three-dimensional model and the connection point coordinate observation weight, and then gives the lunar rover navigation and positioning process.Finally, through the special test of the lunar rover in our country, it validates the lunar rover navigation and positioning algorithm based on the stereo image with high positioning Accuracy and application stability.