空间控制技术与应用2023，Vol.49Issue(6)：113-122,10.DOI:10.3969/j.issn.1674-1579.2023.06.012
基于视觉的地外天体探测器着陆测速
Space Probe Velocity Measurement Based on Vision for Celestial Body Landing
摘要
Abstract
In order to ensure safe and accurate landing on celestial bodies,it is necessary to measure the speed of space probe,providing important information for guidance,navigation and control system.A real-time visual veloc-ity measurement method only based on optical camera is proposed in this paper.For terrain image sequences of ce-lestial bodies,we use recurrent all-pairs field transforms to extract the optical flow field between adjacent frames.Then we extract the eigenvectors corresponding to the optical flow field via the convolution layer and pooling layer in deep neural networks.To reduce the influence on measurement accuracy caused by visual perspective during the landing process,a long-short term memory network for video sequences is constructed to match the eigenvectors up with velocities,thus a real-time landing speed estimation is achieved for space probes.Simulation results demon-strate that our technique decreases the mean absolute percentage error by 11.98％and has higher measurement ac-curacy in comparison to the forward propagation network.关键词
着陆测速/光流场/深度神经网络/地外天体探测/制导导航与控制Key words
landing velocity measurement/optical flow field/deep neural network/celestial body exploration/guidance/navigation and control分类
信息技术与安全科学引用本文复制引用
张洋,赵尔迅,张科备,高晶敏..基于视觉的地外天体探测器着陆测速[J].空间控制技术与应用,2023,49(6):113-122,10.基金项目
国家自然科学基金项目资助项目(62001035)Supported by National Natural Science Foundation of China(62001035) （62001035）
