全球定位系统2026，Vol.51Issue(2)：3-17,15.DOI:10.12265/j.gnss.2026061
深空着陆视觉导航技术研究与进展
Research and progress of visual navigation technology for deep space landing
摘要
Abstract
Aiming at the urgent requirements for high-precision pinpoint landing and autonomous obstacle avoidance in deep space exploration missions,visual navigation technology has emerged as a pivotal means to enhance the landing success rate of extraterrestrial probes,owing to its advantages of high autonomy,low power consumption,and high information density.This paper presents a systematic review of the research status and progress of visual navigation technology for deep space landing.Firstly,combined with the entry,descent,and landing(EDL)process,the critical roles of visual navigation in autonomous positioning,velocity estimation,and hazard avoidance are analyzed.The technical challenges inherent to the deep space environment-including extreme lighting conditions,sparse surface textures,high dynamic motion,and limited on-board computing resources-are highlighted.Furthermore,the engineering application characteristics of visual navigation systems in representative lunar and Martian landing missions,such as the"Chang'e"series,"Mars 2020,"and Smart Lander for Investigating Moon(SLIM),are summarized.Secondly,the fundamental principles of traditional visual methods,including handcrafted feature matching,stereo vision-based 3D reconstruction,and terrain relative navigation(TRN),are elaborated.The paper then deeply explores the research progress of deep learning approaches in addressing complex environmental adaptability,focusing on feature extraction and matching,crater detection,and pose estimation networks.Finally,a comparative analysis is conducted between traditional methods and deep learning approaches regarding robustness,real-time performance,and verifiability.It is concluded that integrating traditional geometric constraints with deep learning feature representation constitutes a significant trend for the future development of visual navigation technology in deep space landing.关键词
深空探测/定点着陆/视觉导航/深度学习/地形相对导航(TRN)Key words
deep space exploration/pinpoint landing/visual navigation/deep learning/terrain relative navigation(TRN)分类
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潘骅,金明达,郭威,邵巍..深空着陆视觉导航技术研究与进展[J].全球定位系统,2026,51(2):3-17,15.基金项目
叶企孙联合基金(U2341214) （U2341214）
山东省自然科学基金(ZR2023MF006,ZR2023QF176,ZR2025QC1615) （ZR2023MF006,ZR2023QF176,ZR2025QC1615）
科工局稳定支持项目(HTKJ2024KL502028) （HTKJ2024KL502028）
