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Inertial navigation assisted meteorite crater coarse-to-fine detection method

A crater and precise detection technology, applied in the field of deep space exploration, can solve the problems of sequence image information redundancy, reduce calculation efficiency, etc., achieve accurate and safe landing, improve efficiency, and avoid the effects of redundant templates

Active Publication Date: 2020-09-11
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

During the image acquisition process of the probe landing, dynamic changes in shooting conditions (such as height, viewing angle, etc.) will cause changes in the scale and shape of the same crater image, and there is information redundancy between sequence images, and separate detection reduces computational efficiency

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  • Inertial navigation assisted meteorite crater coarse-to-fine detection method
  • Inertial navigation assisted meteorite crater coarse-to-fine detection method
  • Inertial navigation assisted meteorite crater coarse-to-fine detection method

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Embodiment Construction

[0087] In order to better illustrate the purpose and advantages of the present invention, the content of the present invention will be further described below with reference to the accompanying drawings and examples.

[0088] like Figure 7 As shown, the inertial navigation-assisted crater detection method disclosed in this example is from coarse to fine, and the specific steps are as follows:

[0089] Step 1: Based on the light and dark area information, the feature edge of the crater image is roughly extracted.

[0090] For a certain pixel (u, v), the region-based edge detection method selects an image window with a size of w × w centered on it, calculates the average gray value E(M) in the window, and finds the maximum gray value of the pixel in the window. The degree value max(M) and the minimum gray value min(M), and the difference between the gray mean value E(M) in the window and max(M) and min(M) respectively, and finally assign this value to the original image pixel...

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Abstract

The invention discloses an inertial navigation assisted meteorite crater coarse-to-fine detection method, and belongs to the technical field of deep space exploration. The implementation method comprises the following steps: achieving meteorite crater image feature edge coarse extraction based on bright and dark region information; and searching the matching degree of the template and the image features by using fast Fourier transform so as to achieve coarse positioning of the area where the image features are located. Inertia measurement information is introduced to calculate the overlappingarea between images, the template shape is updated, and a search area is predicted. Fine detection of the single meteorite crater is achieved in the area where the single meteorite crater is located,so that topography information of a landing area is sensed, and accurate and safe landing of the lander is guaranteed. According to the method, the difficulties that the features cannot be detected and the recognition efficiency is low due to affine transformation and information redundancy among the sequence image features can be solved. The method is not only suitable for planet landing and small celestial body detection tasks, but also suitable for moon detection tasks.

Description

technical field [0001] The invention relates to a coarse-to-fine detection method for inertial navigation auxiliary craters, and belongs to the technical field of deep space detection. [0002] technical background [0003] Using optical equipment to perceive the landing terrain environment is an important technical means to ensure the successful implementation of the landing detection mission under complex terrain. During the landing process, the detector uses optical equipment (lidar, optical camera) to image the landing area. The optical information obtained through image processing can not only be used for obstacle detection and avoidance, but also can be used as navigation landmarks for tracking to achieve accurate positioning of the detector. and motion parameter estimation. Compared with active sensors such as lidar, optical cameras have the advantages of low cost, low power consumption, large field of view and rich image information, and have been widely used in plan...

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Application Information

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IPC IPC(8): G06T7/13G06T3/00G06T7/136G06T7/187
CPCG06T7/13G06T7/136G06T7/187G06T2207/10024G06T2207/20036G06T2207/20056G06T3/147Y02A90/30
Inventor 崔平远高锡珍朱圣英徐瑞修文博
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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