中国空间科学技术

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基于小行星地形特征库的自主测距与定姿方法

李潇;胡维多;   

  1. 中国空间技术研究院;北京航空航天大学宇航学院;
  • 发布日期:2010-04-25

Autonomous Determination of Range and Attitude Based on an Asteroid Terrain Feature Database

Li Xiao1 Hu Weiduo2(1 China Academy of Space Technology,Beijing 100094)(2 School of Astronautics,Beihang University,Beijing 100191)   

  • Online:2010-04-25

被引次数

3

摘要： 首先建立全景着陆区域地形特征数据库,包括了特征点的经纬度、图像纹理信息、各个特征点之间的位置相关特性等;随后提取探测器下降过程中拍摄得到的地形特征,在图像数据库中进行匹配,解决了因小行星自转周期较短产生的特征点溢出视野问题,提高了光学测量的适用性;最后结合匹配点的位置信息通过计算机视觉测距原理获取探测器和小行星之间的相对位置和相对姿态。数学仿真实验验证了方案的可行性。

关键词: 图像数据库, 图像处理, 计算机视觉, 光学测量, 软着陆, 小行星

Abstract: A scheme of range and attitude measuring for soft landing on the asteroids based ona terrain feature database was presented.First,the terrain feature database about a landing target was established which contained the longitude and latitude data of the feature points,image texture information and position-correlation of the feature points.Then,after terrain feature extraction was performed during the descent,image matching was processed in the database.The spill problem of feature points out of a camera was solved,and the applicability of the optical measurement was improved.Finally,the relative positions and attitudes between the asteroid and the explorer were obtained by computer vision principle associated with the position of the matching points.The feasibility of this scheme was validated by mathematical simulation.