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Landmark-based autonomous navigation for pinpoint planetary landing

机译：基于地标的自主导航可精确定位行星着陆

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摘要

A landmark-based autonomous navigation scheme is presented for pinpoint planetary landing. The dynamic model is built on the basis of measurements from Inertial Measurement Unit. Measurement models of landmarks with known coordinates and landmarks with unknown coordinates extracted from sequential descent images are developed and used to calculated the state corrections in Extend Kalman Filter, respectively. Then, the corrections are fused by a covariance intersection fusion algorithm to perform state updates. The tight coupling of the two types of landmark observations yields accurate and robust state estimates. Extensive simulations are performed, which confirm the validity of the proposed navigation scheme and analyze the effects of factors, such as the horizonal position errors and the densities of landmarks with known coordinates and the roughness of the landing surface, on the navigation accuracy.
机译：提出了一种基于地标的自主导航方案，用于精确的行星着陆。动态模型是基于惯性测量单元的测量结果而建立的。从连续下降的图像中提取具有已知坐标的地标和具有未知坐标的地标的测量模型，并将其分别用于计算扩展卡尔曼滤波器中的状态校正。然后，通过协方差相交融合算法将校正融合在一起以执行状态更新。两种类型的地标观测值的紧密耦合产生了准确而可靠的状态估计。进行了广泛的仿真，这些仿真确认了所提出的导航方案的有效性，并分析了诸如水平位置误差和已知坐标的地标密度以及着陆面的粗糙度等因素对导航精度的影响。

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