A method for autonomous extraction of planetary surface navigation features
An extraction method and planetary surface technology, applied in the field of navigation, can solve the problem that the direction of sunlight is difficult to obtain, and achieve the effect of extraction
Inactive Publication Date: 2017-10-10
BEIJING INSTITUTE OF TECHNOLOGYGY
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However, since the direction of the sun's illumination in the planetary surface images taken by the probe is closely related to the attitude information of the probe at the moment of taking pictures, it is generally difficult to obtain the direction of the sun's illumination when the navigation information such as the probe's attitude is unknown
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[0046] In order to better illustrate the purpose and advantages of the present invention, the content of the invention will be further described below in conjunction with the accompanying drawings and examples.
[0047] In this example, for the extraction of navigation features in planetary surface images, the two-dimensional maximum entropy principle is used to segment the navigation feature shadow areas and bright areas in the image, and then some larger areas are selected from them to solve the direction of the sun illumination vector, using the obtained The sun illumination direction is used as a constraint condition to pair the shadow area and bright area of the navigation feature to extract the navigation feature.
[0048] The specific implementation steps of this example are as follows:
[0049] Step 1: Extract the shadow and light regions of the navigation features by segmenting the image
[0050] Planetary surface images are generally grayscale images, such as fi...
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The invention relates to a method for autonomously extracting the navigation characteristic on the surface of a planet, which belongs to the technical field of navigation, and is applied to the deep space detection of a spacecraft. The method for extracting the navigation characteristic on the surface of a planet is based on constraint of the sunshine direction, and the sunshine direction is determined autonomously by utilizing information of images photographed by a detector; then the sunshine direction acts as the constraint condition to pair the shadow area and the brightness area of the navigation characteristic so as to extract the navigation characteristic. Compared with the prior art, under the condition of unknown sunshine direction, the method can be used for autonomously determining the sunshine direction according to the image information; the sunshine direction constraint based navigation characteristic extracting method not only can be used for extracting the standard elliptical navigation characteristic, but also can be used for extracting various shape navigation characteristics, including characteristics of rocks and the like.
Description
technical field [0001] The invention relates to a method for autonomously extracting navigation features of a planet surface. The navigation features of a planet surface refer to navigation features that can be used for detector navigation on the planet surface, such as topographic features such as rocks and craters. The invention belongs to the field of navigation technology and is applied In spacecraft deep space exploration. Background technique [0002] Autonomous navigation technology in the process of planetary soft landing is one of the key technologies of planetary exploration and plays a vital role in planetary exploration. Compared with other navigation methods, optical autonomous navigation based on planetary surface features (rocks, craters, etc.) has obvious low-cost advantages, and has broad application prospects in autonomous navigation for planetary soft landings. Rocks, craters, etc. are widely distributed surface features on the planet's surface. They are ...
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IPC IPC(8): G01C21/24
CPCG01C21/24
Inventor 朱圣英崔平远高艾曾清喻孙璐
Owner BEIJING INSTITUTE OF TECHNOLOGYGY