Method for detecting surface navigation feature area of small celestial body

Abstract

The invention discloses a method for detecting a surface navigation feature area of a small celestial body and belongs to the field of deep space detection. The method comprises the steps of: after obtaining an optical navigation image of the small celestial body, firstly obtaining an interested shadow area on the surface of the small celestial body and building a candidate navigation feature area through a local threshold segmentation algorithm; and judging whether a bright area exists in the candidate area or not through clustering segmentation and eliminating the candidate area free of the bright area; and extracting a transition region between the shadow area and the bright area of the candidate navigation feature area, calculating constraint condition feature parameters of the transition area, screening out the candidate feature area meeting the constraint conditions as the navigation feature area, generating a feature point and matching the navigation feature area, thereby achieving relative autonomous optical navigation near the small celestial body. The invention aims at solving the problem of providing the method for detecting the surface navigation feature area of the small celestial body, which is high in navigation accuracy, simple in algorithm and small in calculated quantity under the condition of deficiency of surface features of the target small celestial body.

Description

technical field [0001] The invention relates to an autonomous detection method for a small celestial body surface navigation characteristic area, in particular to an autonomous optical navigation method for a small celestial body detector, which belongs to the field of deep space detection. Background technique [0002] In recent years, deep space exploration missions have developed rapidly, and small celestial body detection missions are increasing day by day. Probes flying over, approaching, orbiting, and landing on target small celestial bodies have become important scientific tasks in the field of deep space exploration in the future. Due to the unique dynamic characteristics near small celestial bodies and the complex and uncertain environment, new challenges are posed to the navigation system of the probe in each flight stage. At the same time, the detection of small objects in deep space has a long distance and a large communication delay. The traditional ground-based...

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Problems solved by technology

[0006] Aiming at the problems of large amount of calculation, poor real-time performance, and low navigation accuracy in the navigation landmarks selected by existing deep space probes for autonomous optical navigation near small celestial bodies, the technical problem to be solved by the present invention is: Under the condition of scarcity, a method for detecting navigation feature areas on the surface of small celestial bodies with high navigation accuracy, simple algorithm, and small amount of calculation is provided. By using this method, the detection of navigation feature areas can be carried out autonomously, and the detected navigation feature areas can be used as navigation features. , generate feature points, and match the navigation feature area, so as to realize relatively autonomous optical navigation near small celestial bodies

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