An Improved INS/VNS Integrated Navigation Measurement Model for Lunar Rover

Abstract

Abstract-The INS/VNS integrated navigation is an important autonomous navigation method for lunar rovers.The INS/VNS models usually utilize the relative motion differences between the inertial and the vision as measurements. Traditional INS/VNS models make an approximation between definitions of the inertial measured attitude error and the misalignment angle to simplify the measurement model of relative rotation difference. This paper finds that the norm of the approximation error can exceed the norm of misalignment angle when the yaw is large, which cannot be ignored. Furthermore, an improved measurement model without that approximation is presented, in which the definition of inertial measured attitude error and the misalignment angle is accurately matched. Lunarbased simulation and earth-based experiment both demonstrate that the presented model is effective and the method used the proposed model can achieve higher accuracy of positions and attitudes than that used the traditional model.