Abstract: This paper addresses the challenges of insufficient navigation accuracy, low path-planning efficiency, and poor environmental adaptability faced by deep space rovers in complex extraterrestrial environments (e.g., the Moon and Mars). A novel autonomous navigation scheme is proposed that integrates laser Doppler velocimetry (LDV) with star trackers (ST) and inertial navigation system (INS). The scheme suppresses slip errors from wheel odometry through non-contact, high-precision laser speed measurement (accuracy better than 0.1%). By deeply fusing multi-source data via a Kalman filter algorithm, high-precision positioning is realized under extreme extraterrestrial conditions such as weak illumination and dust coverage. This solution features high accuracy, non-contact measurement, and anti-interference capabilities, significantly improving the navigation accuracy and autonomy of deep space rovers in complex environments.

Key words: deep space rovers, laser Doppler velocimetry, star trackers