Integrated INS and Vision-Based Orientation Determination and Positioning of CE-3 Lunar Rover

Technical details are presented for implementation of moon surface navigation and accurate positioning of Yutu rover of CE-3(Chang'e-3)probe with integrated INS(Inertial Navigation System)and vision-based positioning under control of the ground operation and control center to meet requirements for obstacle-avoidance and safe travelling in the unknown environment on the moon.In combination with existing research on navigation and positioning,engineering innovation of navigation and positioning of the rover is summarized.The features of engineering application of INS and vision-based positioning in exploration of moon surface by the rover are described.The integrated INS and vision-based method is validated through accurate positioning test of Yutu rover at the landing point on the moon.The positioning accuracy is about 1%of the total travelling distance.The result is of high significance to accurate landing of Yutu rover on the moon and its science exploration on moon surface.