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基于月面单幅图像的软着陆障碍识别与安全区选取方法
吴伟仁1, 王大轶2,3, 毛晓艳2,3, 黄翔宇2,3
1.探月与航天工程中心, 北京 100037;2.北京控制工程研究所, 北京 100190;3.空间智能控制技术重点实验室, 北京 100094
摘要:
针对月球软着陆自主避障的需求,提出了一种适合月球灰尘表面的改进优化Hapke模型,给出了相对高程的求解、障碍识别与安全区选取方法,解决了已有纹理法无法识别坡度的问题,实现了利用单幅图像的月面着陆障碍识别与安全区域选取.利用月球软着陆下降段仿真图像,进行了模型解算和三维高程恢复并计算安全区域,结果表明,利用月面单幅图像能够实现障碍的识别与安全区的选取.
关键词:  障碍识别;灰度重构形状;朗伯体模型;Hapke模型
DOI:10.15982/j.issn.2095-7777.2014.04.003
分类号:
基金项目:国家中长期科技发展规划重大专项资助项目;民用航天预先研究项目
Obstacle Recognition and Safe Area Selection Method in Soft Landing based on a Single Lunar Image
WU Weiren1, WANG Dayi2,3, MAO Xiaoyan2,3, HUANG Xiangyu2,3
1.Lunar Exploration and Space Program Center, Beijing 100037, China;2.Beijing Institute of Control Engineering, Beijing 100190, China;3.Science and Technology on Space Intelligent Control Laboratory, Beijing 100094, China
Abstract:
A method of ameliorated Hapke model which is the same with satellite surface covered with deep dust is put forward to satisfy the needs of soft landing on the moon. The linearization method is used to calculate the differential equation and to get the relative three-dimensional height of simulative images for obstacle recognition and selection of safe area during landing phase. It can resolve the problem that is difficult to recognize the slope by texture method. Making use of the simulating lunar images during landing, the model calculation, three-dimensional height rebuilding and safe area selection are realized. The results show the validity of this method using single lunar image.
Key words:  obstacle recognition;shape from shading;Lambert model;Hapke model