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