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随着深空探测活动范围的快速扩大,探测器需要在天体实施着陆与返回,因此对导航技术的自主性和精度要求越来越高。提出一种基于视觉/惯性的组合导航系统,该系统的计算机视觉模块采用SURF算法,不仅可以实时地确定探测器的位置,而且能够确定探测器的姿态;惯性导航模块实时获取探测器的位置、速度和姿态信息;组合导航系统采用Kalman滤波技术,将计算机视觉模块和惯性导航模块获取的位置、姿态信息进行组合。该组合导航系统将惯导系统与视觉系统信息融合,通过引入计算机视觉系统所获得的位置和姿态信息,可以有效减小惯导系统误差。仿真结果证明,这种组合导航系统能够有效提高系统导航精度。文中还展望了深空探测器天体着陆导航技术未来的发展趋势。
With the rapid expansion of the scope of deep space exploration activities, the detector needs to land and return on celestial bodies, so the autonomy and accuracy of navigation technologies are increasingly demanding. A combined navigation system based on vision and inertia is proposed. The SURF algorithm of the computer vision module of the system not only determines the position of the detector in real time, but also determines the attitude of the detector. The inertial navigation module acquires the position of the detector in real time, Speed and attitude information. The integrated navigation system uses Kalman filter technology to combine the position and attitude information obtained by the computer vision module and the inertial navigation module. The integrated navigation system integrates the information of inertial navigation system and visual system, and the position and attitude information obtained by introducing computer vision system can effectively reduce the inertial navigation system error. Simulation results show that this integrated navigation system can effectively improve the navigation accuracy of the system. The paper also looks into the future development trend of deep space probe celestial body landing navigation technology.