An autonomous navigation scheme is designed by using the star sensor and horizontal instrument to observe the elevation Angle of star.
利用星敏感器和地平仪测量“星光仰角”，进行自主导航方案设计。
Using UD decomposing to modify EKF Particle filter was imported into the navigation scheme based on the measurement of elevation Angle of star.
用UD分解改进EKF粒子滤波算法，并将其应用于基于星光仰角测量的探测器自主导航方案。
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