X-ray Pulsar based Autonomous Navigation for Lunar Rovers

In order to meet the requirement of autonomous navigation for lunar rover, an autonomous navigation method based on X-ray pulsar observation is proposed. Firstly, the basic principle and implementation scheme of X-ray pulsar autonomous navigation system are studied. Then, according to the lunar rover motion characteristics, the lunar rover motion equation based on the "current" statistical model and its discrete state form are deduced. Time of Arrival (TOA) equation is established based on pulsar photon detection theory. The errors of center gravity body position, pulsar angle position and on-board atomic clock are studied, and then extended state and observation equations are established for the autonomous navigation system. Finally, the Unscented Kalman Filter (UKF) algorithm is applied to the lunar rover autonomous navigation. Simulation results show that this method can provide high precision autonomous navigation information to lunar rover.