Curve matching visual navigation method for planet landing in unknown environment

Abstract

The invention relates to a curve matching visual navigation method for planet landing in an unknown environment and belongs to the technical field of deep space exploration. An implementation method includes first establishing a lander kinematics model by combining inertial measurement information, and then obtaining a sequence image in the lander descending process to establish a measurement model based on inter-frame curve matching, and finally performing real-time estimation on an absolute motion state of a lander through a Kalman filter algorithm, thereby achieving the curve matching visual navigation for planet landing in the unknown environment. The accuracy of a navigation system is improved, the stability of the navigation system is ensured, and it is ensured that the lander landsaccurately and safely. The absolute motion state of the lander can be estimated without prior map information, and the stability of the navigation system is improved. The curve matching visual navigation method not only is suitable for planetary landing missions, but also suitable for small celestial body landing missions.

Description

technical field [0001] The invention relates to a curve-matching visual navigation method for planetary landing in an unknown environment, and belongs to the technical field of deep space exploration. Background technique [0002] Landing detection and sampling return are the main development directions of deep space exploration in the future. Future small celestial body and Mars exploration missions require the probe to have the ability to land precisely in areas of high scientific value. However, the target celestial body is far away from the earth, and the communication delay is serious, which requires the detector to have the ability of autonomous navigation. At the same time, uncertainties such as insufficient prior information of the target celestial body environment and environmental disturbances put forward higher requirements for autonomous navigation systems. [0003] At present, the navigation method based on inertial measurement unit IMU dead position recursion...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of autonomous navigation of interstellar landings in unknown environments, the purpose of the present invention is to provide a curve-matching visual navigation method for planetary landings in unknown environments, and use the Kalman filter algorithm to monitor the absolute motion state of the lander in real time in combination with inertial measurement information. Estimated to realize the autonomous navigation of interstellar landing in an unknown environment and ensure the precise and safe landing of the lander

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