基于未知陆标图像测量的自主相对导航方法研究  

Autonomous Relative Navigation Based on Sequential Image Measurements of Unknown Landmarks

作　　者：徐超[1,2] 黄翔宇[1,2] 李茂登[1,2] XU Chao;HUANG Xiangyu;LI Maodeng(Beijing Institute of Control Engineering,Beijing 100190,China;Science and Technology on Space Intelligent Control Laboratory,Beijing 100190,China)

机构地区：[1]北京控制工程研究所,北京100190 [2]空间智能控制技术重点实验室,北京100190

出　　处：《深空探测学报（中英文）》2021年第2期198-204,共7页Journal Of Deep Space Exploration

基　　金：国家自然科学基金资助项目(61803028,61673057)。

摘　　要：针对未知环境下行星表面导航问题,提出一种利用未知陆标序列图像测量的行星表面相对导航方法。该方法以初始时刻星下点天南东系为着陆参考坐标系,利用行星表面未知陆标在连续3幅下降图像中的观测信息及探测器状态估计建立未知陆标的隐式测量模型,通过扩展卡尔曼滤波(Extended Kalman Filter,EKF)所建立的未知陆标隐式测量模型和基于惯性测量单元(Inertial Measurement Unit,IMU)测量建立的运动学模型对探测器的相对运动状态进行估计。以火星着陆为例进行数学仿真,仿真结果表明提出的方法可有效估计探测器相对行星表面的速度以及相对于着陆点的位置,能够满足行星安全着陆自主相对导航的要求。An autonomous relative navigation method based on sequential image measurements of unknown landmarks for planetary landing in unknown environment is presented.In the proposed method,the line-of-sight vectors of landmarks with unknown 3D positions tracked in three sequence images and position information derived from inertial measurement unit at the time instances of the three images are used to develop implicit measurement constraints.An implicit extended Kalman filter tightly integrates the constraints with the measurements from IMU to estimate the lander's position and velocity relative to the landing site.Numerical simulations of Mars landing indicate the proposed navigation method is efficient and meets the relative navigation requirement of safe planetary landing.

关 键 词：自主相对导航 未知陆标图像 序列图像 行星着陆 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]