空间控制技术与应用2024，Vol.50Issue(6)：57-63,7.DOI:10.3969/j.issn.1674-1579.2024.06.007
嫦娥六号降落图像导航定位技术
Visual Navigation and Positioning Technology for Chang'e-6 Descent
摘要
Abstract
This paper comprehensively utilizes three key data sources to prepare the inputs needed for descent im-age navigation:Chang'e-6 lander position and attitude data,high-resolution lunar surface images captured by Chang'e-6's cameras,and detailed lunar terrain information.Based on Chang'e-6's descent imagery data,this paper uses orbital data to establish an initial landing zone model,then applies advanced computer vision techniques to register and fuse camera images with terrain information,validating the feasibility of visual navigation through or-thophoto feature point matching and crater recognition matching methods.Visual navigation positioning can be fused with inertial navigation positioning data,significantly improving positioning accuracy and reliability.Research re-sults show that visual navigation methods can effectively correct cumulative errors from inertial navigation and serve as a key component of integrated landing navigation.This navigation technology is not only applicable to the Chang'e-6 mission but can also be extended to other lunar and planetary exploration missions,providing strong technical support for future deep space exploration.关键词
嫦娥六号/视觉导航算法/图像与地形配准/深空探测Key words
Chang'e-6 imagery/visual navigation method/the image-terrain matching/deep space exploration分类
航空航天引用本文复制引用
华宝成,李琦,徐昌定,储光涵,李涛,王志文,张洪华..嫦娥六号降落图像导航定位技术[J].空间控制技术与应用,2024,50(6):57-63,7.基金项目
国家自然科学基金资助项目(61333008) Supported by National Natural Science Foundation of China(61333008) （61333008）
