Vision aided inertial navigation for autonomous pinpoint planetary landing

Junhua Feng; Pingyuan Cui; Hutao Cui

doi:10.1117/12.855287

2 April 2010 Vision aided inertial navigation for autonomous pinpoint planetary landing

Junhua Feng, Pingyuan Cui, Hutao Cui

Proceedings Volume 7651, International Conference on Space Information Technology 2009; 76512V (2010) https://doi.org/10.1117/12.855287
Event: International Conference on Space Information Technology 2009, 2009, Beijing, China

Abstract

Autonomous landing spacecraft precisely to selected zone is rather important for planetary exploration. This paper describes a vision aided inertial navigation scheme to meet the requirement of autonomous pinpoint planetary landing. Landmarks and opportunistic features are detected and tracked autonomously to revise the error of inertial navigation. The image coordinates of landmarks and features derived from navigation camera and the measurements of inertial measurement unit are integrated with extended Kalman flter to estimate the pose of spacecraft and opportunistic features' position in inertial reference frame. Numeric simulation demonstrates the validity of the proposed navigation scheme.

Citation Download Citation

Junhua Feng, Pingyuan Cui, and Hutao Cui "Vision aided inertial navigation for autonomous pinpoint planetary landing", Proc. SPIE 7651, International Conference on Space Information Technology 2009, 76512V (2 April 2010); https://doi.org/10.1117/12.855287

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