Integration of Vision and Navigation Information for Autonomous Planetary Landers

机译：自主行星着陆器的视觉和导航信息集成

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Landing on Mars or other planetary bodies, close to a predetermined target landing spot, in an area of rough terrain, is a difficult and risky task. Accurate navigation relative to the planetary surface is necessary, together with the detection of possible hazards like boulders or steep slopes. This is being made possible by developments in vision-based guidance techniques and on-board processing technology. This paper describes a novel EKF to estimate the position and the attitude quaternion of a planetary lander during the approach phase from high-gate to low-gate, using information from vision integrated with inertial data and other GNC sensor data.

机译：在崎terrain的地形上着陆在接近预定目标着陆点的火星或其他行星体上，是一项艰巨而危险的任务。相对于行星表面的准确导航是必要的，同时还需要检测可能的危险，例如巨石或陡坡。通过基于视觉的引导技术和车载处理技术的发展，使之成为可能。本文介绍了一种新颖的EKF，它利用与惯性数据和其他GNC传感器数据集成的视觉信息，估计了从高门到低门的进近阶段行星着陆器的位置和姿态四元数。

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《Cranfield Conference on Dynamica and Control of Systems and Structures in Space; 2004; Liguria; IT》|2004年|P.185-194|共10页
会议地点 Liguria(IT)
作者
Victor Silva; Steve Parkes;
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作者单位

University of Dundee, Applied Computing, Scotland, UK;

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会议组织
原文格式 PDF
正文语种 eng
中图分类动力装置;
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1. Landmark-based autonomous navigation for pinpoint planetary landing [J] . Chao Xu, Dayi Wang, Xiangyu Huang Advances in space research . 2016,第11期

机译：基于地标的自主导航可精确定位行星着陆
2. Crater Edge-based Flexible Autonomous Navigation for Planetary Landing [J] . Tian Yang, Yu Meng, Yao Meibao, The Journal of Navigation . 2019,第3期

机译：基于陨石坑边缘的灵活自主导航，用于行星降落
3. A novel inertial-aided feature detection model for autonomous navigation in planetary landing [J] . Yu Meng, Li Shuang, Huang Xiangyu, Acta astronautica . 2018,第NOVa期

机译：一种新颖的惯性辅助特征检测模型在行星着陆中的自主导航
4. Integration of Vision and Navigation Information for Autonomous Planetary Landers [C] . Victor Silva, Steve Parkes International conference on dynamics and control of systems and structures in space . 2004

机译：自主行星着陆器的愿景和导航信息整合
5. Integration of Geodesy Mission Design and Navigation for Planetary Satellite Orbiters. [D] . Boone, Dylan R. 2013

机译：大地测量任务设计和行星卫星轨道导航的集成。
6. Survey of Datafusion Techniques for Laser and Vision Based Sensor Integration for Autonomous Navigation [O] . Prasanna Kolar, Patrick Benavidez, Mo Jamshidi 2020

机译：基于激光和视觉的自动导航传感器集成的数据融合技术研究
7. Vision-based Navigation System of Autonomous Mobile Robot. (Navigation and Position Error Compensation Experiments Based on Ceiling Landmark Recognition for Autonomous Mobile Robot). [O] . Toshio Fukuda, Shigenori Ito, Nobuyuki Oota, 1994

机译：基于视觉的自主移动机器人导航系统。（基于天花板地标识别自主移动机器人的导航和定位误差补偿实验）。

Integration of Vision and Navigation Information for Autonomous Planetary Landers

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