Autonomous optical navigation technology for Mars probe based on image edge information

被引：0
|
作者：
Liu F. [1 ,2 ]
Zhu Q. [1 ,2 ]
Sun J. [1 ,2 ]
Li S. [3 ]
Xiao D. [1 ,2 ]
Jiang L. [1 ,2 ]
机构：
[1] Shanghai Institute of Spaceflight Control Technology, Shanghai
[2] Shanghai Key Laboratory of Space Intelligent Control Technology, Shanghai
[3] College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing
来源：
| 1600年 / Chinese Academy of Sciences卷 / 50期
关键词：
Biased estimation; Edge extraction; EM-EKF; Mars exploration; Navigation model; Optical autonomous navigation;
D O I：
10.1360/SST-2020-0272
中图分类号：
学科分类号：
摘要：
The large communication delay and the constraints of visible measurement and control arcs hinder the traditional radio measurement and control mode from meeting the navigation real-time and accuracy requirements of the mission-critical phase of deep space exploration missions. Taking Mars exploration as a potential engineering application background, the optical autonomous navigation technology based on image edge information is developed for deep space exploration. The near-real-time estimation and calibration of the optical axis deviation that affects navigation accuracy are performed in orbit. First, an autonomous navigation method based on the Mars center and horizon vector is developed for the Earth-Mars transfer phase. Second, an autonomous navigation method based on the information of the local edge points of the Mars body is proposed for the Mars orbiting phase. Finally, a parameter estimation algorithm based on EM-EKF is developed for the optical axis deviation of the navigation system. This algorithm compensates for system errors through near-real-time optical axis biased parameter estimation, thereby achieving high-precision autonomous optical navigation. Simulation results show that the proposed algorithm can significantly improve the accuracy of autonomous optical navigation and can be used as a reliable backup of the traditional radio navigation mode, thus ensuring the success of Mars exploration. © 2020, Science Press. All right reserved.
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页码：1160 / 1174
页数：14
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