To solve the problem of error accumulation in the inertial navigation system when the rover is working on the lunar surface,and to overcome the shortcomings of the existing studies that are sensitive to the environment or the rover need to be stopped periodically for error fixing.Combining with the behavior of the rover,the error correction process of the rover using the prin-ciple of zero velocity update(ZUPT)is decomposed into four sub-models,namely,the no-ZUPT,the full-ZUPT,the horizontal dynamic ZUPT and the vertical dynamic ZUPT,and their system matrices and measurement matrices are separately derived.A novel multiple model zero velocity update(MMZUPT)algorithm is proposed for the lunar surface navigation system.Applying the principle of multi-model interaction,this novel navigation algorithm allows multiple zero velocity update models to work simultaneously,and can output the optimal navigation results and constrain the cumulative errors by calculating the weights of each model at each positioning epoch.The sim-ulation experiments of lunar surface navigation in a carefully selected constrained environment show that the proposed MMZUPT approach achieves good results without frequent active stops to meet the traditional ZUPT usage boundaries,and that better performance can be achieved by iden-tifying and exploiting calibration signals that contain errors.
Zero velocity update(ZUPT)Multi-model interactionInertial navigationLunar sur-face navigation
维普
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