深空探测学报（中英文）2024，Vol.11Issue(4)：338-345,8.DOI:10.15982/j.issn.2096-9287.2024.20230184
熔岩管探测的定位方法
Localization Methods for Tube Exploration
摘要
Abstract
Aiming at the localization of lunar lava tubes,the volcanic lava cave in Haikou City,Hainan Province,was selected as the experimental area for simulated lunar lava.Localization methods including stereo vision-based method,laser scanning point cloud based method,vision fused IMU based method,laser point cloud fused IMU based method,and vision,laser point cloud and IMU fused method are applied to localization in the field areas of simulated lava tubes.The experimental results show that the accuracy of stereo vision could reach 3.59%in long-distance travelling mode,but the accuracy and robustness decreased significantly in harsh lighting conditions.Lidar could achieve a similar-level accuracy as vision-based method,reaching 1.89%in local area,but its robustness was affected by data acquisition rate and field of view.The integrated localization method using stereo vision,LiDAR,and IMU achieved robust localization results in lava tube areas with extremely harsh lighting and terrain undulations,making it the preferred choice for long-distance continuous localization.The research conclusions provide valuable reference for subsequent research on sensor configuration and localization methods for lunar lava exploration missions.关键词
月球熔岩管/导航定位/多传感器/深空探测Key words
lunar lava tube/navigation and localization/multiple sensors/deep space exploration分类
天文与地球科学引用本文复制引用
寇玉珂,万文辉,邸凯昌..熔岩管探测的定位方法[J].深空探测学报（中英文）,2024,11(4):338-345,8.基金项目
国家重点研发计划(2022YFF0503100) （2022YFF0503100）
