基于视觉的嫦娥四号探测器着陆点定位方法
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摘要
针对探测器月球背面着陆点快速高精度定位问题,利用嫦娥四号探测器动力下降过程中的降落相机序列图像以及着陆区高精度地形图,提出了一种基于高精度图像匹配和几何变换的探测器着陆点高精度快速定位方法。考虑到嫦娥四号、三号任务在动力下降阶段的相似性,利用嫦娥三号降落相机相关数据进行了着陆点定位实验与精度验证。其中降落相机序列影像间的匹配精度达到子像素;降落相机变分辨率图像的拼接优于1个像素。该方法将降落相机序列图像进行拼接,有效扩大着陆区域范围,提高匹配成功率与计算效率,实时性较好,已应用于嫦娥四号探测器月面着陆定位。
To realize the fast and high-precision positioning of the landing location of the probe on the far side of the lunar surface,a positioning method was proposed on the basis of high-precision image matching and geometric transformation using the descent sequence images during the powered descent phase and the high-precision Digital Orthophoto Map of the landing zone. Considering the similarity of Chang'e-3 and Chang' e-4 in the powered descent phase,the landing location experiment and the accuracy verification were carried out using the relevant Chang'e-3 descent data. The matching accuracy between sequent descent images was sub-pixel,and the stitching precision of the multi-resolution descent images was higher than 1 pixel. The experiments showed that the method proposed in this paper could effectively extend the range of the landing area,improve the mapping accuracy and the computation efficiency. It has been applied to Chang'e-4 mission.
To realize the fast and high-precision positioning of the landing location of the probe on the far side of the lunar surface,a positioning method was proposed on the basis of high-precision image matching and geometric transformation using the descent sequence images during the powered descent phase and the high-precision Digital Orthophoto Map of the landing zone. Considering the similarity of Chang'e-3 and Chang' e-4 in the powered descent phase,the landing location experiment and the accuracy verification were carried out using the relevant Chang'e-3 descent data. The matching accuracy between sequent descent images was sub-pixel,and the stitching precision of the multi-resolution descent images was higher than 1 pixel. The experiments showed that the method proposed in this paper could effectively extend the range of the landing area,improve the mapping accuracy and the computation efficiency. It has been applied to Chang'e-4 mission.
引文
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[13]刘斌,徐斌,刘召芹,等.基于降落相机图像的嫦娥三号着陆轨迹恢复[J].遥感学报,2014,18(5):981-987.LIU Bin,XU Bin,LIU Yiliang,et al. Descending and landingtrajectory recovery of Chang’e-3 lander using descent images[J]. Journal of Remote Sensing,18(5):981-987.
[14]丁萌,曹云峰,吴庆宪.一种从月面图像检测陨石坑的方法[J].宇航学报,2009,30(3):1243-1248.DING Meng,CAO Yunfeng,WU Qingxian. A method of cra-ters detection from the surface imagery of Moon[J]. Journal ofAstronautics,30(3):1243-1248.(in Chinese)
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[16] PDS Geosciences Node. Lunar Orbital Data Explorer[EB/OL]. Washington University in St. Louis.(2018)[2019].http://ode.rsl.wustl.edu/moon/.
[2]李飞,张熇,吴学英,等.月球背面地形对软着陆探测的影像分析[J].深空探测学报,2017,4(2):143-149.Li F,Zhang H,Wu X,et al. Influence analysis of terrain ofthe farside of the moon on softlanding[J]. Journal of DeepSpace Exploration,2017,4(2):143-149.(in Chinese)
[3]王镓,王保丰,曹建峰,等.月球探测着陆点定位综述[C]//中国测绘地理信息学会大地测量与导航专业委员会2017年学术会议论文集,2017,432-440.Wang J,Wang B,Cao J,et al. A review of positioning meth-ods for lunar exploration[C]//CSGPC Geodetic Survey andNavigation Professional Committee 2017 Academic AnnualMeeting,432-440.(in Chinese)
[4]黄勇,昌胜骐,李培佳,等.嫦娥三号月球探测器的轨道确定和月面定位[J].科学通报,2014,59:2268-2277.Huang Y,Chang S Q,Li P J,et al. Orbit determination ofChang'e-3 and position of the lander and the rover[J]. ChinSci Bull,2014,59:3858-3867.(in Chinese)
[5]李俊峰,崔文,宝音贺西.深空探测自主导航技术综述[J].力学与实践,2012,34(2):1-9.LI Junfeng,CUI Wen,BAOYIN Hexi. A survey of autono-mous navigation for deep space exploration[J]. Mechanics inEngineering,2012,34(2):1-9.(in Chinese)
[6] Bhaskaran S,Nandi S,Broschart S B,et al. Small body land-ings using autonomous onboard optical navigation[J]. Journalof the Astronautical Sciences,2011,58(3):409-427.
[7]邵巍.基于图像信息的小天体参数估计及探测器自主导航研究[D].哈尔滨:哈尔滨工业大学,2009.SHAO Wei. Image-Based Small Body Parameters Estimationand Spacecraft Autonomous Navigation[D]. Harbin:HarbinInstitute of Technology,2009.(in Chinese)
[8]李建国.火星探测器自主光学着陆导航方法研究[D].哈尔滨:哈尔滨工业大学,2014.LI Jianguo. Research on Autonomous Vision Navigation Meth-ods for Spacecraft Landing on Mars[D]. Harbin:Harbin In-stitute of Technology,2014.(in Chinese)
[9]万文辉,刘召芹,刘一良,等.基于降落图像匹配的嫦娥三号着陆点位置评估[J].航天器工程,2014,23(4):5-12.WAN Wenhui,LIU Zhaoqin,LIU Yiliang,et al. Descent im-age matching based position evaluation for Chang’e-3 landingpoint[J]. Spacecraft Engineering,2014,23(4):5-12.(inChinese)
[10]贾阳,刘少创,李明磊,等.利用降落影像序列实现嫦娥三号系统着陆点高精度定位[J].科学通报,2014,59:1838-1843.Jia Y,Liu S C,Li M L,et al. Chang’e-3 system pinpointlanding localization based on descent image sequence[J].Chin SCI Bull(Chin Ver),2014,59:1838-1843.(in Chi-nese)
[11] Wagner R V,Robinson M S,Speyerer E J,et al. Locations ofanthropogenic sites on the Moon[C]//45thLunar&PlanetaryScience Conference. Lunar and Planetary Science Conference,2014,45:225.
[12]刘斌,邸凯昌,王保丰,等.基于LRO NAC影像的嫦娥三号着陆点高精度定位与精度验证[J].科学通报,2015,60:2750-2757.LIU Bin,DI Kaichang,WANG Baofeng,et al. Positioningand precision validation of Chang’e-3 Lander based on multi-ple LRO NAC images[J]. Chin SCI Bull(Chin Ver),2015,60:2750-2757.(in Chinese)
[13]刘斌,徐斌,刘召芹,等.基于降落相机图像的嫦娥三号着陆轨迹恢复[J].遥感学报,2014,18(5):981-987.LIU Bin,XU Bin,LIU Yiliang,et al. Descending and landingtrajectory recovery of Chang’e-3 lander using descent images[J]. Journal of Remote Sensing,18(5):981-987.
[14]丁萌,曹云峰,吴庆宪.一种从月面图像检测陨石坑的方法[J].宇航学报,2009,30(3):1243-1248.DING Meng,CAO Yunfeng,WU Qingxian. A method of cra-ters detection from the surface imagery of Moon[J]. Journal ofAstronautics,30(3):1243-1248.(in Chinese)
[15] NASA Images of Chang'e-3 Landing Site[EB/OL]. NASA/GSFC/Arizona State University.[2014-01-23]. http://www.nasa.gov/content/nasa-images-of-change-3-landing-site/.
[16] PDS Geosciences Node. Lunar Orbital Data Explorer[EB/OL]. Washington University in St. Louis.(2018)[2019].http://ode.rsl.wustl.edu/moon/.