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我国正在实施月球软着陆工程,月球软着陆避障段是着陆器动力下降过程的关键阶段.在该阶段,导航系统除了需要提供着陆器的位置、速度和姿态测量信息外,还需要识别月表障碍、寻找安全着陆点并将着陆器导引到该着陆点.软着陆避障段的自主导航以惯性导航为基础,为了克服惯性导航的累积误差,并实现对安全着陆点的高精度相对导航,需要引入图像敏感器与测距仪的测量信息对惯导系统加以修正.为此,本文提出了一种基于图像信息的高精度相对导航方法,首先用图像处理技术选择着陆区,然后通过跟踪自主选择的特征点序列实现精确的相对导航.仿真计算表明,该方法能够有效地修正惯性导航误差,实现安全避障和精确定点软着陆.
China is implementing the lunar soft landing project, and the lunar soft landing obstacle avoidance segment is a crucial stage in the process of the lander’s dynamic descent, in which the navigation system needs to identify the lunar surface besides the location, velocity and attitude measurement information of the lander Hurdle to seek a safe landing point and guide the lander to the landing point.The autonomous navigation of the soft landing obstacle avoidance section is based on the inertial navigation, in order to overcome the cumulative error of the inertial navigation and realize the relative navigation with high accuracy to the safety landing point , We need to introduce the measurement information of the image sensor and the range finder to correct the inertial navigation system.Therefore, this paper presents a high-precision relative navigation method based on the image information, first select the landing area with the image processing technology and then through the tracking The self-selected sequence of feature points can achieve accurate relative navigation, and the simulation results show that this method can effectively correct inertial navigation errors and achieve safe obstacle avoidance and accurate fixed-point soft landing.