Experimental research of navigation and localization algorithm based on stereo images for the lunar rover

An exact lunar rover navigation and localization algorithm used stereo images is proposed in order to obtain hign-precision localization information. Firstly, A brief introduction of the navigation and localization algorithm is given in this paper, included the coordinate transformation theory of Chinas first lunar rover, relative orientation based on stereo images, absolute orientation usedstereoscopic models and the weight matrix of the observations based on the coordinates of the tie points. Then, the procedure is given. Last, Some conclusions are drawn after experiment results of Chinas first lunar rover. The approved navigation and localization algorithm of the lunar rover can improve the positioning accuracy and application stability.