Autonomous Optical Navigation for Small Body Landing Based on The Auxiliary of Doppler Lidar

The accurate and safe landing on small bodies is a hot issue in deep space exploration missions. Accurate autonomous navigation is essential for the safe and accurate landing of the small bodies. Aiming at the problem of low navigation accuracy caused by the lack of velocity measurement information using only optical camera, an autonomous optical navigation method based on Doppler Lidar is proposed. By introducing Doppler Lidar measurement, the relative distance and velocity in the direction of each Lidar beam is obtained. Then extended Kalman filter is used for navigation filtering. The simulation results show that the navigation method can achieve fast and accurate estimation of the lander's state with initial state deviation and environmental uncertainty, which meets the accuracy requirements of autonomous navigation for small body soft landing in the future.