深空探测学报Issue(3)：241-245,5.DOI:10.15982/j.issn.2095-7777.2015.03.009
一种基于陨石坑拟合椭圆的着陆器位姿估计算法
An Attitude and Position Determination Algorithm of Lander Based on Craters for Precision Landing
摘要
Abstract
As for the problem of autonomous optical navigation,this paper presents an easy and high-precision algorithm to estimate the attitude and position of a lander by using at least three extracted marginal elliptic curves of craters.Firstly,the geometric and algebraic constraints between the marginal elliptic curves of craters and its 2D images are derived,then the linear equations about the lander’s motion are established by using Kronecker product. With this method,the attitude and position of a lander can be uniquely determined.In particular,the algorithm is easy to use and more flexible because all computations involved in this algorithm are linear matrix operations.The extensive experiments over simulated images and parameters demonstrate the robustness,accuracy and effectiveness of our method.关键词
椭圆曲线/自主导航/星际着陆/陨石坑检测/陨石坑匹配Key words
elliptic curve/autonomous navigation/planetary landing/crater detection/crater matching分类
航空航天引用本文复制引用
高锡珍,邵巍,冷君阁,席莎..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,(3):241-245,5.基金项目
国家重点基础研究发展计划(973计划)(2012CB720000) （973计划）
国家自然科学基金资助项目(61104187) （61104187）
