视觉导航在星际着陆任务中的应用分析-application analysis of visual navigation in interstellar landing missions.docxVIP

AbstractPrecisionautonomousnavigationisoneofthekeytechnologiestoachievetheprecisionplanetarylanding.Thetraditionaldead-reckoningnavigationmethodhasbeenprovedunabletomeettheaccuracyrequirementofthemission.Inordertoachieveprecisionlandingonaremoteplanetsurface,thereisnecessarytodevelopnewtypesofnavigationmethodsbasedonvisionmeasurement.Accordingtothedemandsforinterplanetarylandingmission,andthecharacteristicsofdifferentflightphases,inthispaper,westudiedtherelevantnavigationmethodsusingdifferentkindsofvisualmeasurements.Themaincontentofthispaperareasfollows:Firstly,thenavigationmethodbasedonmappedlandmarksisstudid.Inthedescentphase,wecanextracts2D-to-3Dcorrespondencesbetweendescentimagesandasurfacemap,andthengetthepositionofthenavigationfeaturepoints.Adinamicmodelofthespacecraftisbuilted,thenthemeasurementmodelisgiven.InordertofusetheIMUmeasumentwiththemappedlandmarkmeasument,afilterwasdesignedtosuppresstheinfluenceofIMUbiasandsystemnoise.Seriesofthoroughanalysiswereperformedtodeterminetheconjunctionsbetweensystemparameterswithnavigationperformance.Secondly,thenavigationalgorithmusingopportunisticfeaturesisproposed.Withthedeclineofthespacecraft,theresolutiondifferencebetweenthedescentimageandmapwillbecomelargerandlarger,whichmakesthemappedlandmarksunabletouse.Atthissituation,wecanusethefeaturestrackedthroughasequenceofdescentimages(opportunisticfeatures).Ameasurementmodelwhichcandescribeconstraintsbetweenmultiplecameraposeswasestablished.Inordertoobtaintheprecisionestimationofspacecraftstates,acorrespondingfilterwasdesignedtofusionthevisionmeasurementwiththeoutputofIMU.Andthen,theperformanceoftheproposednavigationalgorithmwasvalidatedbynumericalsimulation.Then,therelativenavigationmethodforthelandingphaseisstudied.Inthisphase,thealtitudeofthelanderisinthemeasurementrangeoflaserrangefinder.Theobservationvectorswerecostructed,usingthemeasurementoflaserrangefinderandcamera.Basedonthegeometricrelationshipbetweentherangingvectorandthelandingpoint,astraightforwardandpractica