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Crater Edge-based Flexible Autonomous Navigation for Planetary Landing

Published online by Cambridge University Press:  26 December 2018

Yang Tian ,
Meng Yu ,
Meibao Yao  and
Xiangyu Huang
Yang Tian
Affiliation:
(Harbin Institute of Technology, School of Astronautics)
Meng Yu*
Affiliation:
(Nanjing University of Aeronautics and Astronautics, School of Astronautics)
Meibao Yao
Affiliation:
(Harbin Institute of Technology, School of Astronautics)
Xiangyu Huang
Affiliation:
(Chinese Academy of Space Technology)
*
(E-mail: yuxy21@nuaa.edu.cn)
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Abstract

In this paper, a novel method for autonomous navigation for an extra-terrestrial body landing mission is proposed. Based on state-of-the-art crater detection and matching algorithms, a crater edge-based navigation method is formulated, in which solar illumination direction is adopted as a complementary optical cue to aid crater edge-based navigation when only one crater is available. To improve the pose estimation accuracy, a distributed Extended Kalman Filter (EKF) is developed to encapsulate the crater edge-based estimation approach. Finally, the effectiveness of proposed approach is validated by Monte Carlo simulations using a specifically designed planetary landing simulation toolbox.

Keywords

Crater edgeAutonomous navigationPlanetary landingSolar illumination direction

Information

Type
Research Article
Information
The Journal of Navigation , Volume 72 , Issue 3 , May 2019 , pp. 649 - 668
Copyright
Copyright © The Royal Institute of Navigation 2018 

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