采用双目视觉测量的行星着陆相对导航方法

发布时间：2018-05-01 18:47

本文选题：行星着陆 + 相对导航　；参考：《宇航学报》2016年07期

【摘要】：针对缺少行星表面陆标位置和探测器初始状态等先验信息情况下行星着陆导航问题,提出一种采用双目视觉测量的行星着陆相对导航方法。首先,利用行星表面陆标的双目视觉测量信息建立相对导航坐标系并计算陆标在相对导航坐标系下的位置,然后利用基于奇异值分解(SVD)的优化方法得到探测器在相对导航坐标系下的初始状态估计,最后利用陆标的视觉测量信息估计探测器在相对导航坐标系下的位置、速度和姿态。以火星着陆为例进行数学仿真分析,仿真结果表明本文提出的方法是有效可行的。
[Abstract]:In order to solve the problem of planetary landing navigation without prior information such as the position of the land mark on the surface of the planet and the initial state of the detector, a relative navigation method for planetary landing using binocular vision measurement is proposed. First of all, the relative navigation coordinate system is established by using the binocular vision measurement information of the planetary surface landmarks, and the position of the landmarks in the relative navigation coordinate system is calculated. Then the initial state estimation of the detector in the relative navigation coordinate system is obtained by using the optimization method based on singular value decomposition (SVD). Finally, the position, velocity and attitude of the detector in the relative navigation coordinate system are estimated by using the visual measurement information of the landmarks. Taking Mars landing as an example, the simulation results show that the proposed method is effective and feasible.
【作者单位】：北京控制工程研究所;空间智能控制技术重点实验室;
【基金】：国家杰出青年科学基金(61525301)
【分类号】：V448.2

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