基于三维地形匹配的月球软着陆导航方法研究  

3D Terrain Feature Matching Based Navigation for Lunar Soft Landing

作　　者：崔平远[1,2] 冯军华[3] 朱圣英[1] 崔祜涛[2] 

机构地区：[1]北京理工大学宇航学院深空探测技术研究所,北京100081 [2]哈尔滨工业大学深空探测研究中心,哈尔滨150080 [3]西安卫星测控中心,西安710043

出　　处：《宇航学报》2011年第3期470-476,共7页Journal of Astronautics

基　　金：国家自然科学基金(60874094);国家863计划(2010AA122206)

摘　　要：针对月球探测器定点着陆任务的需要,研究了基于三维地形匹配的导航方法。对三维地形匹配问题,将高程方差图局部极值点作为三维地形特征,在构建地形特征之间的相对位置与角度不变量的基础上,提出了基于投票的三维地形匹配策略。针对测量噪声统计特性的不确定性,将Sage-Husa噪声估计算子与迭代卡尔曼滤波相结合,通过对测量噪声进行在线估计有效避免滤波精度下降甚至滤波发散的出现。数字仿真结果表明所研究的导航方法能够有效地实现探测器相对位置和姿态的精确估计。A 3D terrain feature matching based autonomous navigation method for lunar pinpoint landing is presented in this paper.Firstly,3D terrain features are detected by searching local maximum of the digital elevation map＇s local variance.Secondly,based on the invariants of relative distance and angle,a vote method is used to match detected terrain features with the feature database of global digital elevation map.Thirdly,for uncertainties of measurement noise statistics in pose estimation,the Sage-Husa noise statistics estimator is fused with an iterative Klaman Filter to provide accurate estimation of spacecraft position and attitude.Simulation results are given to show feasibility of the proposed navigation scheme.

关 键 词：月球软着陆 视觉导航 地形匹配 位姿估计 

分 类 号：V448.224[航空宇航科学与技术—飞行器设计]