月着陸のための視覚的姿勢推定アルゴリズムの設計
Design of a Visual Pose Estimation Algorithm for Moon Landing
月面のクレーター位置をカメラで検出・同定し、宇宙機の位置と姿勢を推定する地形絶対航法アルゴリズムを提案し、シミュレーションで精度と使用クレーター数の影響を検証した。
著者: Atakan Süslü, Betül Rana Kuran, Halil Ersin Söken
分類: cs.RO, cs.CV, cs.SY, eess.SY
原文アブストラクト
In order to make a pinpoint landing on the Moon, the spacecraft's navigation system must be accurate. To achieve the desired accuracy, navigational drift caused by the inertial sensors must be corrected. One way to correct this drift is to use absolute navigation solutions. In this study, a terrain absolute navigation method to estimate the spacecraft's position and attitude is proposed. This algorithm uses the position of the craters below the spacecraft for estimation. Craters seen by the camera onboard the spacecraft are detected and identified using a crater database known beforehand. In order to focus on estimation algorithms, image processing and crater matching steps are skipped. The accuracy of the algorithm and the effect of the crater number used for estimation are inspected by performing simulations.