月球探测器鲁棒环形山检测及光学导航方法  

A robust crater detection algorithm and optical navigation for lunar landers

作　　者：吴鹏[1,2,3] 穆荣军[1] 邓雁鹏[1] 崔乃刚 WU Peng;MU Rongjun;DENG Yanpeng;CUI Naigang(School of Astronautics,Harbin Institute of Technology,Harbin 150001,China;College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China;Sanya Nanhai Innovation and Development Base,Harbin Engineering University,Sanya 572000,China)

机构地区：[1]哈尔滨工业大学航天学院,黑龙江哈尔滨150001 [2]哈尔滨工程大学智能科学与工程学院,黑龙江哈尔滨150001 [3]哈尔滨工程大学三亚南海创新发展基地,海南三亚572000

出　　处：《哈尔滨工程大学学报》2024年第2期238-246,共9页Journal of Harbin Engineering University

基　　金：载人航天第四批预研项目(18123060201);上海航天科技创新基金项目(SAST2021-024)。

摘　　要：针对月球探测器环形山检测方法受光照影响、鲁棒性差的问题,本文提出一种基于极大熵阈值三值化的鲁棒环形山检测算法。采用不同滤波核对图像进行去噪平滑,然后对处理后的图像进行极大熵阈值分割、将图像信息三值化,去除图像对光源的敏感性,同时最大程度保留图像信息;提出一种归一化多指标约束环形山匹配和拟合方法完成环形山提取,将环形山提取算法应用于光学导航中进行打靶实验验证算法实时性表现。仿真结果表明:与传统基于形态学或自适应边缘检测的方法相比,本文方法在较大尺度条件下提取出连续、光滑的环形山边缘,有效环形山数量提升35%以上,同时实时性更好、计算消耗降低40%;基于鲁棒环形山提取的光学导航算法实时性更好。Traditional crater detection algorithms(CDAs)are photosensitive and have poor robustness.To solve this problem,a new CDA based on maximum entropy threshold ternary segmentation is proposed and used in optical navigation.This method uses different filter kernel functions to eliminate noise and thereby smooth an image.Fur-thermore,the processed image is segmented by the maximum entropy threshold,and the image information is trival-ued to remove the photosensitivity of the image while retaining the image information to the greatest extent.A nor-malized multi-indicator constrained crater matching and a ellipse fitting method are proposed for complete crater ex-traction.This CDA method is applied to optical navigation Monte Carlo experiments and verify the real-time algo-rithm.Simulation results show that compared with traditional methods based on morphology or adaptive edge detec-tion,the proposed CDA can extract continuous and smooth crater edges on a large scale,increasing the number of effective craters by more than 35%while reducing the calculation cost by 40%.The optical navigation algorithm based on robust crater detection algorithm has better real-time performance.

关 键 词：环形山检测 极大熵阈值 月球探测 光学导航 障碍感知与规避 图像分割 月球探测器 信息熵 

分 类 号：V448[航空宇航科学与技术—飞行器设计]