An Observability Detection Method for Crater Feature Mis-Matching
A crater and mismatch technology, applied in the field of deep space exploration, can solve the problems of real-time degradation, deviation of estimated results, and high algorithm complexity, and achieve the effect of ensuring stability and improving accuracy.
Active Publication Date: 2020-10-16
BEIJING INSTITUTE OF TECHNOLOGYGY
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However, after extracting the elliptic curve information of the crater edge, there may be mismatches in the established preliminary matching feature pairs
The existence of mismatched crater edge curve pairs greatly affects the calculation of lander motion parameters, resulting in large deviations in estimation results, so these mismatched feature pairs must be eliminated
At present, random sampling consensus algorithm (RANSAC) and Mahalanobis distance algorithm are mainly used to delete mismatches, but RANSAC has a large amount of calculation, and improper selection of matching features will affect the accuracy of the transformation matrix, so that mismatches cannot be completely removed; using Mahalanobis distance affine Invariance. A large number of matrix operations are required to measure the similarity of invariant features, resulting in high algorithm complexity and reduced real-time performance.
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[0045] An observability detection method for crater feature mismatch disclosed in this embodiment, the specific steps are as follows:
[0046] Step 1: Establish an observation model based on the elliptic curve of the crater edge.
[0047] During the landing process, 4 pairs of initially matched craters in adjacent descent images are given. Then, using any two pairs of initially matched craters in two adjacent images in the lander body coordinate system (coincident with the camera coordinate system) to establish the relative motion constraint equation of the lander is:
[0048]
[0049] Among them, ii , A j represent the lander at position c λ-1 The edge elliptic curves of two crater images, where λ=2,3,…; matrix B i , Β j represent the lander at position c λ The edge elliptic curves of the two crater images; and the matrix A i ,A j ,B i ,B j Both are 3×3 non-singular symmetric matrices; the matrix H is a 3×3 homography matrix, which represents the relative motion p...
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The invention discloses an observability detection method for crater feature mismatch, which belongs to the technical field of deep space detection. The present invention utilizes n pairs of initially matched meteor craters in two descending images, and establishes an observation model based on the elliptic curve of the edge of the meteor crater through the Kronecker product of the matrix; the observability analysis is performed on the observation matrix from the perspective of error analysis, Obtain the metric of the observability of the navigation system; judge the observability based on the obtained metric of the observability, and then eliminate the mismatch of craters to realize the observability of the navigation system, that is, to realize the observability analysis of the mismatch of crater features Detect, improve the accuracy of the navigation system, and ensure the stability of the navigation system. The present invention is not only applicable to planetary landing missions, but also to small celestial body landing missions; meanwhile, the present invention is still applicable to absolute navigation systems based on elliptic curves at the edge of craters.
Description
technical field [0001] The invention relates to an observability detection method for crater feature mismatch, and belongs to the technical field of deep space detection. Background technique [0002] With the continuous development of deep space exploration missions, interstellar landing detection is becoming more and more complex, and the requirements for landing technology are also increasing. The design of the lander navigation system has gradually become the key to the entire exploration mission. During the landing process, the lander obtains more and more visual information from the surface of the target celestial body through the navigation camera, and it is necessary to obtain the position and attitude information of the lander by using some features of the image. As a common visual feature on the surface of celestial bodies, craters have clear outlines and consistent geometric shapes, and are relatively easy to identify and track. They are one of the most important ...
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IPC IPC(8): G01S19/15G01S19/20G06K9/62G06K9/00
CPCG01S19/15G01S19/20G06V20/13G06V10/751
Inventor崔平远高锡珍于正湜刘阳朱圣英
OwnerBEIJING INSTITUTE OF TECHNOLOGYGY