中国空间科学技术（中英文）2025，Vol.45Issue(6)：133-140,8.DOI:10.16708/j.cnki.1000-758X.2025.0095
基于可观测度的自主导航序列特征轻量构建方法
Observability degrees based lightweight construction method for sequential features of autonomous navigation
摘要
Abstract
Autonomous planetary landing navigation based on sequential images is constrained by the limited computational resources onboard the lander,making it difficult to process and match a large number of image features.This paper designs observability degrees from both spatial and temporal dimensions.A spatial configuration observability degree for landmarks is introduced to optimize the selection of the best feature locations within the sequence,while a depth estimation error observability degree is proposed to determine the optimal time intervals between features.These observability degrees are used to guide the construction of lightweight sequential features with low computational burden.The proposed observability degrees avoid complex matrix operations,making them suitable for onboard autonomous selection of landmarks and feature sequences.Simulation results demonstrate that,compared to traditional methods,the lightweight sequential feature construction method significantly reduces computational load and the number of image processing operations during landmark selection,thereby effectively enhancing the autonomous navigation capability of the lander.关键词
行星着陆/自主导航/序列图像/可观测度/轻量化Key words
planetary landing/autonomous navigation/sequential image/observability degree/lightweight引用本文复制引用
李嘉兴,王大轶,徐超,李茂登,董天舒,符方舟..基于可观测度的自主导航序列特征轻量构建方法[J].中国空间科学技术（中英文）,2025,45(6):133-140,8.基金项目
国家自然科学基金(U20B2055,61525301) （U20B2055,61525301）
