基于角锥体原理的月面巡视探测器定位方法

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In order to obtain the local position of lunar rover, a new way based on pyramid princi- ple is proposed. The method uses coordinates of feature points, picked up in photos about lunar lander, to caculate the position of lunar rover precisely without any initial value. The field test for the 2nd phase of the Chang＇e program demonstrates the effectiveness of the proposed algo- rithm. Moreover, it provides a guarantee for lunar rover scientific research.为了获取月面巡视探测器在月球表面的相对位置信息，提出了一种基于角锥体原理的相对定位方法。此方法无需初始值，仅利用巡视探测器获取的包含着陆器目标的影像，就可以实现巡视探测器高精度定位。通过嫦娥二期工程试验，验证了该算法的有效性，可为月面巡视探测器开展科学考察任务所应用。