宇航学报

宇航学报 ›› 2016, Vol. 37 ›› Issue (7): 802-810.doi: 10.3873/j.issn.1000-1328.2016.07.006

• 制导、导航与控制 • 上一篇    下一篇

采用双目视觉测量的行星着陆相对导航方法

徐超，王大轶，黄翔宇   

  1. 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
  • 收稿日期:2015-10-12 修回日期:2015-12-10 出版日期:2016-07-15 发布日期:2016-07-25
  • 基金资助:

    国家杰出青年科学基金(61525301)

Relative Navigation for Planetary Landing Using Stereo Vision Measurements

XU Chao, WANG Da yi, HUANG Xiang yu   

  1. 1. Beijing Institute of Control Engineering, Beijing 100190, China;
     2. Science and Technology on Space Intelligent Control Laboratory, Beijing 100190, China
  • Received:2015-10-12 Revised:2015-12-10 Online:2016-07-15 Published:2016-07-25

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摘要：

针对缺少行星表面陆标位置和探测器初始状态等先验信息情况下行星着陆导航问题，提出一种采用双目视觉测量的行星着陆相对导航方法。首先，利用行星表面陆标的双目视觉测量信息建立相对导航坐标系并计算陆标在相对导航坐标系下的位置，然后利用基于奇异值分解（SVD）的优化方法得到探测器在相对导航坐标系下的初始状态估计，最后利用陆标的视觉测量信息估计探测器在相对导航坐标系下的位置、速度和姿态。以火星着陆为例进行数学仿真分析，仿真结果表明本文提出的方法是有效可行的。

关键词: 行星着陆, 相对导航, 自主导航, 双目视觉

Abstract:

A relative navigation method based on stereo vision measurements for planetary landing without any priori landmark information and a priori initial state of vehicle is proposed. Firstly, a relative navigation coordinate system is established and the positions of landmarks in the relative navigation coordinate system are calculated by using stereo vision measurements of landmarks. Secondly, an optimization method based on the singular value decomposition (SVD) is used to initialize the vehicle state. Finally, the position, velocity and attitude of the vehicle expressed in the relative navigation coordinate system are estimated. The numerical simulation results for Mars landing indicate that the proposed relative navigation method is effective and feasible.

Key words: Planetary landing, Relative navigation；Autonomous navigation；Stereo vision

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