中文摘要：

火星车的自主导航是其顺利完成火星探测任务的重要保障,是目前火星车需要亟待解决的关键技术之一。首先,对几种不同的视觉定位方法进行论述,分析了不同视觉定位方法的优缺点。然后,给出了天文导航系统的定姿原理。最后,根据惯性、视觉、天文三种导航系统各自的特点,设计了一种适用于火星车的惯性/视觉/天文自主组合导航方案,通过有机融合三种导航系统的信息,使该方案能够满足火星车在复杂环境下对长时间、远距离、高精度自主导航的要求。

英文摘要：

Autonomous navigation is an important function for a Mars rover to fulfill missions successfully,and it is a critical technique need to be solved. Firstly,several different visual locating methods are discussed in this paper,and their advantages and disadvantages are analyzed. Secondly,the attitude determination theory of celestial navigation is pointed out. Lastly,according to the characteristics of inertial navigation,visual navigation and celestial navigation,an inertial/visual/celestial autonomous integrated navigation scheme applied to the Mars rover is designed based on the organic integration of the three navigation system information. It can meet the requirements of long time,remote distance and high precision autonomous navigation for rovers in complicated environment.