利用月面环形山定位，提升登月飞船导航精度。
Design of a Visual Pose Estimation Algorithm for Moon Landing
- 基于预存环形山数据库，通过摄像头识别环形山位置
- 仿真验证算法可有效减少惯性导航漂移，环形山数量越多越准
- 适合需要高精度月面着陆的航天任务使用
为实现月球精准着陆，飞行器导航系统需具备高精度。为克服惯性传感器导致的导航漂移，本文提出一种基于地形的绝对导航算法，通过识别飞船下方环形山的位置来估计其姿态与位置。飞船上相机拍摄的环形山图像，利用预先构建的环形山数据库进行检测与匹配。为聚焦算法设计，图像处理与匹配步骤被简化。通过仿真测试评估算法精度及所用环形山数量对结果的影响，验证了该方法在提高导航准确性和鲁棒性方面的有效性。
原文摘要 · Abstract (English)
In order to make a pinpoint landing on the Moon, the spacecraft's navigation system must be accurate. To achieve the desired accuracy, navigational drift caused by the inertial sensors must be corrected. One way to correct this drift is to use absolute navigation solutions. In this study, a terrain absolute navigation method to estimate the spacecraft's position and attitude is proposed. This algorithm uses the position of the craters below the spacecraft for estimation. Craters seen by the camera onboard the spacecraft are detected and identified using a crater database known beforehand. In order to focus on estimation algorithms, image processing and crater matching steps are skipped. The accuracy of the algorithm and the effect of the crater number used for estimation are inspected by performing simulations.
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