Abstract: Aiming at the optimization of optical navigation scheme for planetary landing, this paper proposes an integrated optimization method based on observability. Firstly, the measurement equations of different geometric characteristics are established by using the image information of landmarks. Based on the observability matrix and Fisher information matrix, the observability and the lower limit of estimation error of navigation system are analyzed, and the relationship between the location and quantity of characteristics and the performance of navigation system is revealed. Then, the observability and the lower limit of estimation error of navigation system are used as the evaluation indexes respectively.At last, the influence of different feature points, lines and curves on the performance of navigation scheme is analyzed, and the relevant conclusions are verified by simulation.

Key words: Planetary landing, Autonomous navigation, Feature optimization, Observability analysis, Fisher information matrix