Hostname: page-component-586b7cd67f-vdxz6 Total loading time: 0 Render date: 2024-11-27T19:22:03.409Z Has data issue: false hasContentIssue false
  • English
  • Français

Crater Edge-based Flexible Autonomous Navigation for Planetary Landing

Published online by Cambridge University Press:  26 December 2018

Yang Tian ,
Meng Yu ,
Meibao Yao  and
Xiangyu Huang
Yang Tian
Affiliation:
(Harbin Institute of Technology, School of Astronautics)
Meng Yu*
Affiliation:
(Nanjing University of Aeronautics and Astronautics, School of Astronautics)
Meibao Yao
Affiliation:
(Harbin Institute of Technology, School of Astronautics)
Xiangyu Huang
Affiliation:
(Chinese Academy of Space Technology)
*
(E-mail: [email protected])
Get access Rights & Permissions [Opens in a new window]

Abstract

In this paper, a novel method for autonomous navigation for an extra-terrestrial body landing mission is proposed. Based on state-of-the-art crater detection and matching algorithms, a crater edge-based navigation method is formulated, in which solar illumination direction is adopted as a complementary optical cue to aid crater edge-based navigation when only one crater is available. To improve the pose estimation accuracy, a distributed Extended Kalman Filter (EKF) is developed to encapsulate the crater edge-based estimation approach. Finally, the effectiveness of proposed approach is validated by Monte Carlo simulations using a specifically designed planetary landing simulation toolbox.

Keywords

Crater edgeAutonomous navigationPlanetary landingSolar illumination direction
Type
Research Article
Information
The Journal of Navigation , Volume 72 , Issue 3 , May 2019 , pp. 649 - 668
Copyright
Copyright © The Royal Institute of Navigation 2018 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

REFERENCES

Ansar, A. (2004). small body GN&C research report: Feature recognition algorithms. In Small Body Guidance Navigation and Control FY 2004 RTD Annual Report, Pasadena, CA.Google Scholar
Bandeira, L., Saraiva, J. and Pina, P. (2007). Impact crater recognition on Mars based on a probability volume created by template matching. IEEE Transactions on Geoscience and Remote Sensing, 45, 4008–4015.Google Scholar
Berry, K., Sutter, B., May, A., Williams, K., Barbee, B. W., Beckman, M. and Williams, B. (2013). OSIRIS-REx Touch-And-Go (TAG) mission design and analysis. 36th Annual AAS Guidance and Control Conference, Breckenridge, CO, 667–678, 1–6 February.Google Scholar
Canny, J. (1986). A computational approach to edge detection. IEEE Transactions on Pattern Analysis and Machine Intelligence, 6 (1986), 679–698.Google Scholar
Cheng, Y., Johnson, A. E., Matthies, L. H. and Olson, C. F. (2003). Optical landmark detection for spacecraft navigation. AAS/AIAA Astrodynamics Specialist Conference, Ponce, Puerto Rico, pp: 1767–1785.Google Scholar
Cheng, Y. and Ansar, A. (2005). Landmark based position estimation for pinpoint landing on Mars. Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp: 4470–4475, 18–22 April.Google Scholar
Cheng, Y., Johnson, A. E. and Matthies, L. (2005). MER-DIMES: a planetary landing application of computer vision. IEEE Computer Society International Conference on Computer Vision and Pattern Recognition, San Diego, CA, pp: 806–813.Google Scholar
Gaskell, R. W. (2001). Automated landmark identification for spacecraft navigation. 2001 AAS/AIAA Astrodynamic Specialist Conference, Quebec City, Quebec, Canada, pp: 1749–1756.Google Scholar
Gaskell, R.W. (2013). Gaskell Dione Shape Model V1.0. CO-SA-ISSNA/ISSWA-5-DIONESHAPE-V1.0. NASA Planetary Data System.Google Scholar
Johnson, A. E. (2000). Surface landmark selection and matching in natural terrain. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, Hilton Head Island, SC, USA, pp: 413–420, 13–15 June.Google Scholar
Johnson, A. E. and SanMartin, A. M. (2000). Motion estimation from laser ranging for autonomous comet landing. IEEE International Conference on Robotics and Automation, San Francisco, CA, USA, pp: 132–138, 24–28 April.Google Scholar
Johnson, A. E., Willson, R., Cheng, Y., Goguen, J., Leger, C., SanMartin, M. and Matthies, L. (2007). Design through operation of an image-based velocity estimation system for Mars landing. International Journal of Computer Vision, 74, 319–341.Google Scholar
Johnson, A. E. and Montgomery, J. F. (2008). Overview of terrain relative navigation approaches for precise Lunar landing. IEEE Aerospace Conference, Big Sky, MT, USA, pp: 1–10, 1–8 March.Google Scholar
Johnson, A. E., Cheng, Y., Montgomery, J. F., Trawny, N., Tweddle, B. and Zheng, J. X. (2015). Real-time terrain relative navigation test results from a relevant environment for Mars landing. AIAA Guidance Navigation and Control Conference, Kissimmee, Florida, USA, 5–9 January.Google Scholar
Leroy, B., Medioni, G., Johnson, A. E. and Matthies, L. H. (2001). Crater detection for autonomous landing on asteroids. Image and Vision Computing, 19, 787–792.Google Scholar
Lorenz, A., Olds, R., May, A., Mario, C., Perry, M. E., Palmer, E. E. and Daly, M. (2017). Lessons learned from OSIRIS-Rex autonomous navigation using natural feature tracking. IEEE Aerospace Conference, Big Sky, MT, USA, pp: 1–12, 4–11 March.Google Scholar
Montgomery, J., Johnson, A. E., Roumeliotis, S. and Matthies, L. (2006). The JPL Autonomous Helicopter Testbed: A Platform for Planetary Exploration Technology Research and Development. Journal of Field Robotics, Special Issue on UAV's, 23.Google Scholar
Mourikis, A. I., Trawny, N., Roumeliotis, S. I., Johnson, A. E., Ansar, A. and Matthies, L. (2009). Vision-aided inertial navigation for spacecraft entry, descent, and landing. IEEE Transactions on Robotics, 25, 264–280.Google Scholar
Pardo de Santayana, R. and Lauer, M. (2015). Optical measurements for Rosetta navigation near the Comet. Proceedings of the 25th International Symposium on Space Flight Dynamics, Munich, Germany, pp: 1–19.Google Scholar
Pentland, A. P. (1984). Local shading analysis. IEEE Transactions on Pattern Analysis and Machine Intelligence, 6, 170–187.Google Scholar
Rohrschneider, R. (2011). Terrain relative navigation using crater identification in surface topography data. AIAA Guidance, Navigation, and Control Conference, Portland, Oregon, 8–11 August.Google Scholar
Simard Bilodeau, V., Neveu, D., Bruneau-Dbuc, S., Alger, M., LaFontaine, J. de, Clerc, S. and Drai, R. (2012). Pinpoint Lunar landing navigation using crater detection and matching: design and laboratory validation. AIAA Guidance Navigation and Control Conference, Minneapolis, Minnesota, 13–16 August.Google Scholar
Singh, L. and Lim, S. (2008). On Lunar on-orbit vision-based navigation: terrain mapping, feature tracking driven EKF. AIAA Guidance, Navigation and Control Conference and Exhibit, Honolulu, Hawaii, 18–21 August.Google Scholar
Soatto, S., Frezza, R. and Perona, P. (1996). Motion estimation via dynamic vision. IEEE Transactions on Automatic Control, 41, 393–413.Google Scholar
Spigai, M., Clerc, S. and Simard Bilodeau, V. (2010). An image segmentation-based crater detection and identification algorithm for planetary navigation. Intelligent Autonomous Vehicles, Lecce, Italy, 6–8 September.Google Scholar
Terui, F., Ogawa, N., Oda, K. and Uo, M. (2010). Image based navigation and guidance for approach and touchdown phase to an asteroid utilizing captured images at the rehearsal operation. The 61st International Astronautical Congress, Prague, Czech Republic, pp: 5963–5970.Google Scholar
Woicke, S., Moreno Gonzalez, A. S., El-Hajj, I., Mes, J. W. F., Henkel, M., Autar, R. and Klavers, R. (2018). Comparison of crater-detection algorithms for terrain-relative navigation. 2018 AIAA Guidance Navigation and Control Conference, Kissimmee, Florida, USA, 8–12 January.Google Scholar
Yu, M., Cui, H. and Tian, Y. (2014). A new approach based on crater detection and matching for visual navigation in planetary landing. Advances in Space Research, 53, 1810–1821.Google Scholar