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基于陆标图像的火星精确着陆自主导航方法研究

徐超 王大轶 黄翔宇

徐超, 王大轶, 黄翔宇. 基于陆标图像的火星精确着陆自主导航方法研究[J]. 深空探测学报, 2016, 3(2): 150-155. doi: 10.15982/j.issn.2095-7777.2016.02.009
引用本文: 徐超, 王大轶, 黄翔宇. 基于陆标图像的火星精确着陆自主导航方法研究[J]. 深空探测学报, 2016, 3(2): 150-155. doi: 10.15982/j.issn.2095-7777.2016.02.009
XU Chao, WANG Dayi, HUANG Xiangyu. Autonomous Navigation for Mars Pin-Point Landing Based on Landmark Image[J]. Journal of Deep Space Exploration, 2016, 3(2): 150-155. doi: 10.15982/j.issn.2095-7777.2016.02.009
Citation: XU Chao, WANG Dayi, HUANG Xiangyu. Autonomous Navigation for Mars Pin-Point Landing Based on Landmark Image[J]. Journal of Deep Space Exploration, 2016, 3(2): 150-155. doi: 10.15982/j.issn.2095-7777.2016.02.009

基于陆标图像的火星精确着陆自主导航方法研究

doi: 10.15982/j.issn.2095-7777.2016.02.009

Autonomous Navigation for Mars Pin-Point Landing Based on Landmark Image

  • 摘要: 针对火星精确着陆自主导航高精度的要求,提出一种仅利用火星地表陆标图像信息的自主导航方法。该方法考虑了图像拍摄到图像测量信息可用之间的时间延迟,将成像时刻探测器位置和姿态作为系统状态,利用其与探测器当前状态之间的相关性,并通过迭代扩展卡尔曼滤波算法实现对探测器当前位置、速度和姿态的估计。在该导航方法下,重点研究了导航陆标位置误差对导航精度的影响。最后,通过数学仿真验证了所给出的自主导航方法,并分析了导航陆标位置误差对导航精度的影响。
  • [1] 黄翔宇,张洪华,王大轶,等."嫦娥3号"探测器软着陆自主导航与制导技术[J]. 深空探测学报,2014,1(1):52-59.Huang X Y,Zhang H H,Wang D Y,et al. Autonomous navigation and guidance for Chang'e-3 soft landing[J]. Journal of Deep Space Exploration,2014,1(1):52-59.
    [2] Oberhettinger D,Skulsky E D,Bailey E S. Assessment of Mars Phoenix EDL performance[C]//2011 IEEE Aerospace Conference. California:IEEE,2011.
    [3] Morita H,Shirakawa K. Hayabusa's real-time landmark tracking navigation for descents and touching-downs[C]//AIAA/AAS Astrodynamics Specialist Conference and Exhibit. Colorado:AIAA,2006.
    [4] Johnson A,Willson R,Cheng Y,et al. Design through operation of an image-based velocity estimation system for Mars landing[J]. International Journal of Computer Vision,2007,74(3):319-341.
    [5] Kim J,Sukkarieh S. Autonomous airborne navigation in unknown terrainenvironments[J]. IEEE Transactions on Aerospace and Electronic Systems,2004,40(3):1031-1045.
    [6] Mourikis A I,Roumeliotis S I. A multi-state constraint Kalmanfilter forvision-aided inertial Navigation[C]//IEEE International Conference on Robotics and Automation. Roma:IEEE,2007.
    [7] Mourikis A I,Trawny N,Roumeliotis S I,et al. Vision-aided inertial navigation for spacecraft entry,descent,and landing[J]. IEEE Transactions on Robotics,2009,25(2):264-280.
    [8] Indelman V,Gurfil P,Rivlin E,et al. Navigation aiding based on coupledonline mosaicking and camera scanning[J]. Journal of Guidance,Control,and Dynamics,2010,33(6):1866-1882.
    [9] Pannhanden G,Jansson M. Vision-aided inertial navigation using planar terrain features[C]//The 1st International Conference on Robot,Vision and Signal Processing.[S.l]:Kaohsiung,2011.
    [10] Indelman V,Gurfil P,Rivlin E,et al. Real-time vision-aided localization and navigation based on three-view geometry[J]. IEEE Transactions on Aerospace and electronic Systems,2012,48(3):2239-2259.
    [11] Li S,Cui P Y,Cui H T. Vision-aided inertial navigation for pinpointing planetary landing[J]. Advances in Space Research,2007,11(6):499-506.
    [12] Trawny N,Mourikis A I,Roumeliotis S I,et al. Vision-aided inertial navigationfor pin-point landing using observations of mapped landmarks[J]. Journal of Field Robotics,2007,24(5):357-378.
    [13] 张晓文,李骥,黄翔宇,等. 基于陆标图像的天体定点着陆信息融合导航方法[J]. 空间控制技术与应用,2014,40(6):10-15.Zhang X W,Li J,Huang X Y,et al. Information-fusion-integrated navigation for celestial body pinpoint landing based on landmark image[J]. Aerospace Control and Application,2014,40(6):10-15.
    [14] Bilodeau V S,Neveu D,Brunean-Dubuc S,et al. Pinpoint lunar landing navigation using crater detection and matching:design and laboratory validation[C]//AIAA Guidance Navigation,and Control Conference. Minnesota:AIAA,2012.
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出版历程
  • 收稿日期:  2015-10-12
  • 修回日期:  2016-01-10

基于陆标图像的火星精确着陆自主导航方法研究

doi: 10.15982/j.issn.2095-7777.2016.02.009

摘要: 针对火星精确着陆自主导航高精度的要求,提出一种仅利用火星地表陆标图像信息的自主导航方法。该方法考虑了图像拍摄到图像测量信息可用之间的时间延迟,将成像时刻探测器位置和姿态作为系统状态,利用其与探测器当前状态之间的相关性,并通过迭代扩展卡尔曼滤波算法实现对探测器当前位置、速度和姿态的估计。在该导航方法下,重点研究了导航陆标位置误差对导航精度的影响。最后,通过数学仿真验证了所给出的自主导航方法,并分析了导航陆标位置误差对导航精度的影响。

English Abstract

徐超, 王大轶, 黄翔宇. 基于陆标图像的火星精确着陆自主导航方法研究[J]. 深空探测学报, 2016, 3(2): 150-155. doi: 10.15982/j.issn.2095-7777.2016.02.009
引用本文: 徐超, 王大轶, 黄翔宇. 基于陆标图像的火星精确着陆自主导航方法研究[J]. 深空探测学报, 2016, 3(2): 150-155. doi: 10.15982/j.issn.2095-7777.2016.02.009
XU Chao, WANG Dayi, HUANG Xiangyu. Autonomous Navigation for Mars Pin-Point Landing Based on Landmark Image[J]. Journal of Deep Space Exploration, 2016, 3(2): 150-155. doi: 10.15982/j.issn.2095-7777.2016.02.009
Citation: XU Chao, WANG Dayi, HUANG Xiangyu. Autonomous Navigation for Mars Pin-Point Landing Based on Landmark Image[J]. Journal of Deep Space Exploration, 2016, 3(2): 150-155. doi: 10.15982/j.issn.2095-7777.2016.02.009
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