Optimal crater landmark selection based on optical navigation performance factors for planetary landing

作     者：Yi XIU Shengying ZHU Rui XU Maodeng LI Yi XIU;Shengying ZHU;Rui XU;Maodeng LI

作者机构：School of Aerospace EngineeringBeijing Institute of TechnologyBeijing 100081China Key Laboratory of Autonomous Navigation and Control for Deep Space ExplorationMinistry of Industry and Information TechnologyBeijing 100081China Key Laboratory of Dynamics and Control of Flight VehicleMinistry of EducationBeijing 100081China Science and Technology on Space Intelligent Control LaboratoryBeijing Institute of Control EngineeringBeijing 100091China 

出 版 物：《Chinese Journal of Aeronautics》 (中国航空学报（英文版）)

年 卷 期：2023年第36卷第3期

页      面：254-270页

核心收录：

学科分类：08[工学] 081105[工学-导航、制导与控制] 0811[工学-控制科学与工程] 

基　　金：supported by the National Key Research and Development Program of China(No.2019YFA0706500) the National Natural Science Foundation of China(No.61873302,61973032,U20B2055 and U2037602) the Basic Scientific Research Program of China(No.JCKY2018602B002) the Space Debris Program of China(No.KJSP2020020302) 

主　　题：Crater-based optical navigation Crater landmark selection Crater matching Measurement uncertainty Planetary landing 

摘      要：Planetary craters are natural navigation landmarks that widely exist and are easily *** navigation based on crater landmarks has become an important autonomous navigation method for planetary *** to the increase in observed crater landmarks and the limitation of onboard computation,the selection of good crater landmarks has gradually become a research hotspot in the field of landmark-based optical *** paper designs a fast crater landmark selection method,which not only considers the configuration observability of crater subsets but also focuses on the influence on navigation performance arising from the measurement uncertainty and the matching confidence of craters,which is different from other landmark selection *** factor of measurement uncertainty,which is anisotropic,correlated and nonidentically distributed,is quantified and integrated into selection based on crater pairing detection and localization error *** addition,the concept of the crater matching confidence factor is introduced,which reflects the possibility of 2D projection measurements corresponding to 3D *** with the configuration observability factor,the crater landmark selection indicator is ***,the effectiveness of the proposed method is verified by Monte Carlo simulations.