一种小行星探测陆标导航方法  

A Landmark Navigation Method for Asteroid Exploration

作　　者：张成渝 梁潇[1] 华宝成[1] 武延鹏[1] 王安然 张依诺 ZHANG Chengyu;LIANG Xiao;HUA Baocheng;WU Yanpeng;WANG Anran;ZHANG Yinuo(Beijing Institute of Control Engineering,Beijing 100090,China)

机构地区：[1]北京控制工程研究所,北京100090

出　　处：《空间控制技术与应用》2021年第1期78-86,共9页Aerospace Control and Application

基　　金：国防科技重点实验室基金项目(HTKJ2019KL502001)。

摘　　要：针对小行星探测下降着陆段精确相对导航问题,提出了一种基于Stereophotoclinometry(SPC)陆标的相对导航方法.该方法先采用SPC光照模型渲染陆标的预测图像,再利用双线性插值从观测图像中生成陆标的提取图像.通过组合相关匹配实现预测图像与提取图像的高精度匹配,得到陆标中心点对应观测图像位置,即可利用N点透视(PNP)算法进行相机位姿估计.仿真结果表明,该方法在初始相机位姿偏差较大时也能达到亚像素的图像位置确定精度,并且具有较好的实时性.To implement high-precision relative navigation during the descent and landing phase of asteroid exploration,a landmark-based relative navigation method is proposed.The predicted image of the landmark map(L-map/maplet)is first rendered by the stereophotoclinometry(SPC)illumination model,and the extracted image of the maplet is then generated from the observed image using bilinear interpolation.The combined correlation matching method is adopted to perform exact matching between the predicted image and the extracted image,and obtain the observed image location of the landmark center accurately.Therefore,the camera pose is estimated by the perspective-n-point(PNP)algorithm.The simulation results show that this method can achieve sub-pixel accuracy even when the initial camera pose deviation is slightly large,and it has good real-time performance.

关 键 词：小行星探测 陆标导航 图像匹配 亚像素精度 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]