Autonomous Navigation for Lunar Probe based on the Orientation-Altitude information of the Moon

In order to control the lunar probe more precisely on real-time, it should have the ability of autonomous orbit determination. This paper presents the states propagation function by f-g series in a certain short-time interval. The autonomous navigation is implemented by extend Kalman filter (EKF) using the selenocentric direction and the selenocentric distance, which are measured by the ultraviolet moon sensor and the altimeter respectively. And the digital simulation shows that the position error is 1.184 km, and the velocity error is 0.515 m/s. And improving the altimeter´s measurement is the more effective method to improve the precision of the autonomous navigation.