摘要：We present a navigation technique for a lunar vehicle based upon matching horizon imagery with a database of synthetic panoramas generated from ultrahigh‐resolution topographic models created by stereophotoclinometry. We conducted two tests, one with lunar topography and fully synthetic panoramas, and another using Earth‐based data and actual panoramic images. We have shown that the horizon‐matching technique can search a wide area for a vehicle''s location and determine that location to within 6 m using readily available imagery.
