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为了防止火星探测器自主着陆过程中降落到坡度较高的坡面造成翻转,在探测器着陆过程中对拟着陆面进行坡度估计,提出了一种基于机器视觉的坡度估计方案,并完成坡度估计方案的仿真验证。软件部分采用matlab2014a进行编程,能够完成对坡度的仿真。实际结果表明,该方案具有精度和实时性,达到火星探测器自主着陆时的要求。
In order to prevent the Mars probe from falling over to the steep slopes during the autonomous landing, the slope of the quasi-landing surface was estimated during the landing of the Mars rover, and a slope estimation scheme based on machine vision was proposed and the slope estimation was completed Program simulation. Software part using matlab2014a programming, to complete the simulation of the slope. The actual results show that the scheme has the precision and real-time performance and meets the requirements of the Mars rover’s autonomous landing.