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一种基于陨石坑拟合椭圆的着陆器位姿估计算法
高锡珍, 邵巍, 冷君阁, 席莎
青岛科技大学 自动化与电子工程学院, 青岛 266042
摘要:
针对星际着陆自主导航问题,提出一种利用陨石坑边缘曲线估计着陆器位姿的简便算法。该算法首先利用至少3条陨石坑边缘曲线及其对应的像曲线,建立关于着陆器位姿的几何约束方程;然后由克罗内克积和最小二乘算法,求取着陆器位置、姿态的解析解。该方法的优点在于,计算过程简单、快速。仿真结果表明,该算法可以较精确的估计着陆器位姿,鲁棒性好。
关键词:  椭圆曲线;自主导航;星际着陆;陨石坑检测;陨石坑匹配
DOI:10.15982/j.issn.2095-7777.2015.03.009
分类号:
基金项目:国家重点基础研究发展计划(973计划)(2012CB720000);国家自然科学基金资助项目(61104187)
An Attitude and Position Determination Algorithm of Lander Based on Craters for Precision Landing
GAO Xizhen, SHAO Wei, LENG Junge, XI Sha
College of Automation & Electronic Engineering, Qingdao University of Science and Technology, Qingdao 266042, China
Abstract:
As for the problem of autonomous optical navigation, this paper presents an easy and high-precision algorithm to estimate the attitude and position of a lander by using at least three extracted marginal elliptic curves of craters. Firstly, the geometric and algebraic constraints between the marginal elliptic curves of craters and its 2D images are derived, then the linear equations about the lander's motion are established by using Kronecker product. With this method, the attitude and position of a lander can be uniquely determined. In particular, the algorithm is easy to use and more flexible because all computations involved in this algorithm are linear matrix operations. The extensive experiments over simulated images and parameters demonstrate the robustness, accuracy and effectiveness of our method.
Key words:  elliptic curve;autonomous navigation;planetary landing;crater detection;crater matching