Vision Aided Inertial Navigation for Autonomous Pinpoint Planetary Landing

摘要：

Autonomous landing spacecraft precisely to selected zone is rather important for planetary exploration. This paper describes a vision aided inertial navigation scheme to meet the requirement of autonomous pinpoint planetary landing. Landmarks and opportunistic features are detected and tracked autonomously to revise the error of inertial navigation. The image coordinates of landmarks and features derived from navigation camera and the measurements of inertial measurement unit are integrated with extended Kalman flter to estimate the pose of spacecraft and opportunistic features position in inertial reference frame. Numeric simulation demonstrates the validity of the proposed navigation scheme.

作者: Feng Junhua Cui Pingyuan Cui Hutao

作者单位: Deep Space Exploration Research Center, Harbin Institute of Technology, Harbin 150001, China

会议类型: 国际会议

会议名称: International Conference on Space Information Technology 2009(2009年第三届空间信息技术国际会议)

会议地点: 北京

会议语种:英文

页码: 1-5

在线出版日期: 2009-11-26（万方平台首次上网日期，不代表论文的发表时间）