摘要
我国正在实施月球软着陆工程,月球软着陆避障段是着陆器动力下降过程的关键阶段.在该阶段,导航系统除了需要提供着陆器的位置、速度和姿态测量信息外,还需要识别月表障碍、寻找安全着陆点并将着陆器导引到该着陆点.软着陆避障段的自主导航以惯性导航为基础,为了克服惯性导航的累积误差,并实现对安全着陆点的高精度相对导航,需要引入图像敏感器与测距仪的测量信息对惯导系统加以修正.为此,本文提出了一种基于图像信息的高精度相对导航方法,首先用图像处理技术选择着陆区,然后通过跟踪自主选择的特征点序列实现精确的相对导航.仿真计算表明,该方法能够有效地修正惯性导航误差,实现安全避障和精确定点软着陆.
Hazard avoidance phase is one of the most important flight phases in lunar descent and safe landing.In this phase,the navigation system must take the capability of detecting hazards,designating a safe site and guiding the lander to the selected safe site,besides the normal ability of providing the information about position,velocity and attitude.The basic navigation instrument in hazard avoidance phase is Inertial Navigation System（INS）.In order to eliminate the accumulated calculation errors in INS,the measurements from other sensors are always introduced,such as optical cameras and altimeters.In this paper,a relative navigation method for safe landing based on optical images is proposed.First,a safe landing site and a series image features are selected using image processing techniques,and then a kind of accurate relative navigation algorithm is performed by matching and tracking those selected image features.The simulation results imply that this method is effective to reduce the INS errors and can be used for hazard avoidance and pinpoint landing on the moon.
出处
《中国科学：信息科学》
CSCD
2011年第9期1054-1063,共10页
Scientia Sinica(Informationis)
基金
探月工程重大专项二期工程资助项目
关键词
月球软着陆
光学成像
匹配跟踪
避障导航
定点着陆
lunar soft landing； optical imaging； matching and tracking； avoidance navigation； pinpoint landing；
