Abstract
A relative navigation method using a camera and a three-beam ranger is developed to address the challenge of scarce of natural mark for absolute navigation. The camera is used to measure the coordinates of the random features in the photo plane, while the three-beam ranger is used to obtain the normal vector of the landing plane. Combining these two kinds of the measurements, the relative navigation reference system is established and the position of each feature in this reference system is obtained. Exploiting the features with known positions, the navigation system is designed to estimate the lander's position, velocity and attitude in the relative navigation system. Afterwards, the observability analysis is performed based on the observability matrix to reveal the least amount of features to satisfy the observability. Finally, the numerical simulations are performed to analyze the state estimation accuracy and validate the observability analysis. The proposed method needs no Martian terrain database, and realizes the high-precision full-state estimation and meets the requirements of Mars high-precision soft landing.
| Translated title of the contribution | Relative Optical Navigation in Powered Descent Phase of Planetary Landings |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 164-173 |
| Number of pages | 10 |
| Journal | Yuhang Xuebao/Journal of Astronautics |
| Volume | 40 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 28 Feb 2019 |