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一种基于星表特征直线匹配的着陆器位姿估计算法

邵巍 顾天昊

邵巍, 顾天昊. 一种基于星表特征直线匹配的着陆器位姿估计算法[J]. 深空探测学报, 2017, 4(3): 281-286. doi: 10.15982/j.issn.2095-7717.2017.03.013
引用本文: 邵巍, 顾天昊. 一种基于星表特征直线匹配的着陆器位姿估计算法[J]. 深空探测学报, 2017, 4(3): 281-286. doi: 10.15982/j.issn.2095-7717.2017.03.013
SHAO Wei, GU Tianhao. A New Approach Based on Line Correspondences for Attitude and Position Estimation of Lander[J]. Journal of Deep Space Exploration, 2017, 4(3): 281-286. doi: 10.15982/j.issn.2095-7717.2017.03.013
Citation: SHAO Wei, GU Tianhao. A New Approach Based on Line Correspondences for Attitude and Position Estimation of Lander[J]. Journal of Deep Space Exploration, 2017, 4(3): 281-286. doi: 10.15982/j.issn.2095-7717.2017.03.013

一种基于星表特征直线匹配的着陆器位姿估计算法

doi: 10.15982/j.issn.2095-7717.2017.03.013

A New Approach Based on Line Correspondences for Attitude and Position Estimation of Lander

  • 摘要: 针对深空探测星际着陆过程中的自主导航问题,提出一种基于星表特征直线的着陆器位姿估计算法。该算法首先采用EDLine算法对着陆过程中所拍摄的图像进行特征直线提取;其次根据直线局部特征对特征直线进行匹配;之后利用至少3对已匹配的特征直线,建立关于着陆器位姿的几何约束方程;然后根据奇异值分解法得到着陆器位姿的候选解;最终通过最小二乘法从候选解中选取着陆器位置、姿态的唯一解。仿真结果表明:该算法可以快速估计着陆器位姿,且在高度为2 000 m时位置误差小于2 m、姿态误差小于0.10°。
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    [5] 高锡珍,邵巍,冷君阁,等. 一种基于陨石坑拟合椭圆的着陆器位姿估计算法[J]. 深空探测学报,2015,2(3):241-245. Gao X Z,Shao W,Leng J G,et al. An attitude and position determination algorithm of lander based on craters for precision landing[J]. Journal of Deep Space Exploration,2015,2(3),241-245.
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    [9] Lu T,Hu W,Liu C,et al. Relative pose estimation of a lander using crater detection and matching[J]. Optical Engineering,2016,55(2):102-112.
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  • 收稿日期:  2017-04-15
  • 修回日期:  2017-05-31

一种基于星表特征直线匹配的着陆器位姿估计算法

doi: 10.15982/j.issn.2095-7717.2017.03.013

摘要: 针对深空探测星际着陆过程中的自主导航问题,提出一种基于星表特征直线的着陆器位姿估计算法。该算法首先采用EDLine算法对着陆过程中所拍摄的图像进行特征直线提取;其次根据直线局部特征对特征直线进行匹配;之后利用至少3对已匹配的特征直线,建立关于着陆器位姿的几何约束方程;然后根据奇异值分解法得到着陆器位姿的候选解;最终通过最小二乘法从候选解中选取着陆器位置、姿态的唯一解。仿真结果表明:该算法可以快速估计着陆器位姿,且在高度为2 000 m时位置误差小于2 m、姿态误差小于0.10°。

English Abstract

邵巍, 顾天昊. 一种基于星表特征直线匹配的着陆器位姿估计算法[J]. 深空探测学报, 2017, 4(3): 281-286. doi: 10.15982/j.issn.2095-7717.2017.03.013
引用本文: 邵巍, 顾天昊. 一种基于星表特征直线匹配的着陆器位姿估计算法[J]. 深空探测学报, 2017, 4(3): 281-286. doi: 10.15982/j.issn.2095-7717.2017.03.013
SHAO Wei, GU Tianhao. A New Approach Based on Line Correspondences for Attitude and Position Estimation of Lander[J]. Journal of Deep Space Exploration, 2017, 4(3): 281-286. doi: 10.15982/j.issn.2095-7717.2017.03.013
Citation: SHAO Wei, GU Tianhao. A New Approach Based on Line Correspondences for Attitude and Position Estimation of Lander[J]. Journal of Deep Space Exploration, 2017, 4(3): 281-286. doi: 10.15982/j.issn.2095-7717.2017.03.013
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