COOPERATIVE NAVIGATION METHOD FOR LUNAR BASE EQUIPMENT BASED ON MULTISOURCE INFORMATION FUSION

Collaborative navigation by multiple sensor data and multi-machine interaction information is an main navigation method for lunar base equipment to explore lunar surface exploration, which is a very challenging and necessary task in the future lunar south pole exploration and lunar base construction missions. In this paper, a method of fusing multi-source navigation information to improve the navigation accuracy and stability of lunar base equipment is proposed. An absolute/relative navigation information fusion system was designed, including absolute navigation information acquired by optical cameras and LiDAR and relative navigation information such as radio ranging. Then, an information entropy (IE) based collaborative navigation information evaluation method is proposed to select the optimal information to update the position of the lunar base equipment and to reduce the influence of low-quality measurement information. Finally, an innovation-based chi-square test algorithm and an information sharing method based on the autoregressive moving average (ARMA) model are designed based on the raw sensor data, hence the fault information can be processed and the higher filtering weights can be assigned to the high-precision subsystems. Simulation results show that the proposed method can improve the stability and accuracy of the navigation system.