基于深度估计误差的自主光学导航陆标优选方法  

Landmark Selection Method for Autonomous Optical Navigation Based on Depth Estimation Error

作　　者：李嘉兴 王大轶[1] 董天舒 李茂登[2] 徐超[2] LI Jiaxing;WANG Dayi;DONG Tianshu;LI Maodeng;XU Chao(Beijing Institute of Spacecraft System Engineering,Beijing 100094,China;Beijing Institute of Control Engineering,Beijing 100094,China)

机构地区：[1]北京空间飞行器总体设计部,北京100094 [2]北京控制工程研究所,北京100094

出　　处：《深空探测学报（中英文）》2023年第2期133-139,共7页Journal Of Deep Space Exploration

基　　金：国家自然科学基金(U20B2055,61525301)。

摘　　要：基于自主光学导航行星着陆过程中,受计算资源限制的问题,提出一种基于深度估计误差的陆标优选方法,首先建立了描述连续2次观测相同陆标时着陆器与陆标距离估计精度的深度误差模型,然后用该模型描述系统可观测度并从序列图像中优选视线深度估计精度最高的陆标,最后通过数值仿真模拟火星着陆的过程。结果表明提出的陆标优选方法与传统方法相比导航精度相近,但优化所需的计算时间更短,更适宜实现自主导航。When autonomous optical navigation is used to achieve accurate planetary landing,the amount of computation required for landmark selection needs to be reduced due to the limitation of computational resources.In this paper,a depth estimation error-based landmark selection method was proposed.First,a depth estimation error model was developed to describe the accuracy of distance estimation between the lander and the landmark when the same landmark was observed twice in a row,and then the model was used to describe observability degree and to select the landmark with highest accuracy of line-of-sight depth estimation from the sequential images.The landmark selection method proposed in this paper is similar to the conventional methods in terms of navigation accuracy,but requires less optimization computation time and is more suitable for autonomous navigation on the lander.

关 键 词：行星着陆 光学导航 陆标优选 序列图像 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]