Feature Collaborative Derivation Method for Small Celestial Body Landing

Xujin Leng, Dantong Ge*, Shengying Zhu, Zixuan Liang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Autonomous navigation is the key technology for the success of the small celestial body landing mission. The significant terrain features on the surface of small celestial body can provide position and attitude information for autonomous navigation. In most existing optical navigation methods, a sufficient number of features are required to guarantee that the lander's state is observable. However, the landing area is usually flatter, which results in fewer significant terrain features that the camera can observe. Meanwhile, in the process of small celestial body landing, the observation range of the camera will be reduced with the decrease of the height, and the information that can be observed by a single camera is also decreased. To address this problem, a feature collaborative derivation method with limited observation is proposed in this paper. In this method, the sequence images of a single camera are used to predict the vanished features. Meanwhile, the overlapped observation areas of multiple cameras are matched to realize the collaborative observation of features. Then, the time sequence prediction value is fused with the collaborative observation value, so as to obtain the collaborative derived information of vanished features with higher accuracy. The effectiveness of the proposed feature collaborative derivation method is verified through numerical simulations in a small celestial body navigation scenario.

Original languageEnglish
Title of host publicationProceedings of 2024 IEEE International Conference on Unmanned Systems, ICUS 2024
EditorsRong Song
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1716-1721
Number of pages6
ISBN (Electronic)9798350384185
DOIs
Publication statusPublished - 2024
Event2024 IEEE International Conference on Unmanned Systems, ICUS 2024 - Nanjing, China
Duration: 18 Oct 202420 Oct 2024

Publication series

NameProceedings of 2024 IEEE International Conference on Unmanned Systems, ICUS 2024

Conference

Conference2024 IEEE International Conference on Unmanned Systems, ICUS 2024
Country/TerritoryChina
CityNanjing
Period18/10/2420/10/24

Keywords

  • autonomous navigation
  • collaborative derivation
  • small celestial body landing

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