An Optimal Landmark Selection Method for Planetary Landing Optical Navigation

Abstract

The invention discloses a method for selecting an optimal landmark for planetary landing optical navigation, which belongs to the field of autonomous navigation. The implementation method of the present invention is as follows: randomly select n (n≥3) initial landmarks and identify them as the current optimal landmarks, construct the observation matrix H and calculate the matrix (H T h) ‑1 The sum of the initial eigenvalues ​​λ 0 , randomly select new landmarks to calculate the sum of eigenvalues ​​λ, through iterative calculation and comparison of the sum of eigenvalues ​​λ, starting from a higher initial acceptance probability parameter, while the acceptance probability parameter is continuously decreasing, combined with the probability jump Features Find optimal waypoints for planetary landing optical navigation. The present invention can relatively quickly realize the selection of the optimal landmark for planetary landing optical navigation among a large number of landmarks, and determine the position and attitude of the deep space probe in the fixed coordinate system of the target celestial body, and has the advantages of high optimization quality, strong robustness, and small amount of calculation Etc. The present invention is suitable for a navigation system that uses pixel information of multiple landmarks to independently determine the position and attitude of a deep-space detector.

Description

technical field [0001] The invention relates to a method for selecting an optimal landmark for optical navigation during planetary landing, belonging to the field of autonomous navigation. Background technique [0002] Planetary soft landing will be one of the most complex tasks in deep space exploration in the future. Due to communication delays and the complexity of the dynamic environment in deep space, the traditional navigation and control modes based on ground remote control can no longer meet the needs of high-precision soft landing. This requires that the lander must have autonomous navigation capabilities. There are a large number of craters, rocks and other topographical features on the surface of the planet, which have high visibility and resolvability. Scholars from various countries have conducted a lot of research on them. Using these terrains to conduct autonomous optical navigation on landmarks can obtain high Navigation accuracy and performance. [0003] T...

AI Technical Summary

Problems solved by technology

[0007] In order to solve the problem of cumbersome and complicated calculations when the current deep-space probes based on landmark navigation independently select multiple navigation landmarks from a large number of landmarks, the invention discloses a method for selecting optimal landmarks for planetary landing optical navigation. The technical problem to be solved is : In a large number of landmarks, it is relatively fast to select the optimal landmark for planetary landing optical navigation, and to determine the position and attitude of the deep space probe in the fixed coordinate system of the target celestial body. It has the advantages of high optimization quality, strong robustness, and small calculation amount.

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