Visual navigation algorithm for asteroid lander based on irregular curve matching

To solve the problem of high-precision optical navigation for the descent landing of lunar and planetary probes, an optical navigation method based on the spatial position distribution model is proposed. The method is based on crater detection, and an imaging cosine equivalent mathematical model based on the correspondence of crater objects is constructed, The geometric distribution of the probe spatial position is described to form an Abelian Lie group spatial torus to achieve absolute positioning for parametric optical navigation, Finally, the effect of the measurement error of crater detection on the positioning and attitude of the optical navigation system is discussed, with a fitted ellipse used as a typical analysis object. The effects of different crater distribution configurations and different detection errors on the performance of the proposed optical navigation algorithm are analyzed. The results of Monte Carlo simulation experiments showed that the algorithm proposed in this paper had the advantages of high stability, high accuracy, and good real-time performance, compared with existing methods.

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基于陨石坑的视觉导航技术综述

Xu Liheng,

Jiang Jie,

Ma Yan

2023

激光与光电子学进展

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Visual navigation algorithm for asteroid lander based on irregular curve matching

Cited by 3 publications

References 0 publications

Robust trajectory optimization for Mars lander powered descent considering navigation errors

Robust trajectory optimization for Mars lander powered descent considering navigation errors

Optical Navigation Method and Error Analysis for the Descending Landing Phase in Planetary Exploration

基于陨石坑的视觉导航技术综述

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