Robust roundabout detection method for lunar probe and aircraft navigation method

Abstract

The invention discloses a robust roundabout detection method for a lunar probe and an aircraft navigation method, solves the problems that a conventional roundabout detection method is influenced by illumination and is poor in robustness in the descending and landing process of the existing lunar probe, and belongs to the technical field of lunar detection. According to the method, firstly, an image is filtered, image edge details are reserved, and noise influence is removed; secondly, entropy distribution of the processed image is calculated, maximum entropy threshold segmentation is carried out, image information is subjected to ternary processing, the sensitivity of the image to a light source is removed, and meanwhile the image information is reserved to the maximum degree; according to the method, a normalized multi-index constraint ring-shaped mountain matching and fitting method is adopted to complete ring-shaped mountain extraction, and continuous, complete and clear edges of the lunar surface ring-shaped mountain can be extracted under different illumination conditions. The aircraft navigation method based on robust annular mountain extraction is better in real-time performance.

Description

technical field [0001] The invention relates to a lunar probe robust crater detection method and an aircraft navigation method, belonging to the technical field of lunar exploration. Background technique [0002] In the past few decades, countries around the world have launched a series of successful missions to the moon (Apollo, Chang'e), Mars (Tianwen-1, Curiosity, Opportunity), asteroids (Hayabusa) and other celestial bodies. detection tasks. Generally speaking, areas with higher scientific research value tend to have more complex terrain and more difficult landing detection. Therefore, as one of the foundations of detection tasks, the Crater detection algorithm (CDA) is very important for navigation systems and obstacle avoidance systems. The "Chang'e" 4 probe was the first probe to land on the far side of the moon. Compared with previous lunar landing probes, its landing area lacks high-precision terrain data, and the landing risk is greater. [0003] For future lun...

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Problems solved by technology

[0006] Aiming at the problem that the conventional crater detection method is affected by light and has poor robustness during the descent and landing process of the existing lunar probe, the present invention provides a robust crater for the lunar probe Detection method

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