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A high precision planetary center positioning method in deep space autonomous optical navigation

An optical navigation and center positioning technology, which is applied in the directions of instruments, character and pattern recognition, scene recognition, etc., can solve the problems of being easily affected by noise, the filtering method cannot handle planetary filtering, and the complex sampling environment of planetary images, etc., and achieve edge detection accuracy Improvement, the effect of positioning accuracy improvement

Active Publication Date: 2019-02-15
BEIHANG UNIV
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Problems solved by technology

[0009] (2) The planetary image sampling environment is complex and easily affected by noise, and the existing filtering methods cannot perform efficient filtering processing for the geometric and image features of the planet;

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  • A high precision planetary center positioning method in deep space autonomous optical navigation
  • A high precision planetary center positioning method in deep space autonomous optical navigation
  • A high precision planetary center positioning method in deep space autonomous optical navigation

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Embodiment Construction

[0052] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0053] 1. Method description

[0054] Step 1: Choose the method of combining morphological opening and minimum circle coverage to preprocess the planet, and obtain the coordinates of the arc edge of the planet and the initial values ​​of the center and radius of the planet.

[0055] Take an image of the moon with rich surface texture as an example, such as image 3 (a) shown. Firstly, morphological opening operation is used on the image, and the opening operation is the process of corroding and re-expanding the image. The open operation here eliminates the influence of a large number of stars and stray light in the background area of ​​the moon. However, the opening operation cannot completely eliminate the influence of the surface texture. image 3 (b) shown. Then use the sobel operator to extract (b) the image edge, get as im...

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Abstract

The invention discloses a high-precision planetary center positioning method in deep-space autonomous optical navigation, which comprises the following steps: firstly, image preprocessing extracts theedge of a planetary arc to obtain the initial values of the planetary center and the radius; Secondly, a non-local filtering method is used to filter the region of interest (EROI) to get a better gray distribution of the edge region. Thirdly, a local region effect method based on the gradient direction is used to locate the edge of the planetary arc in sub-pixels. Finally, the least square methodis used to fit the edge of the circular arc, and the center coordinates of the planet are obtained with high accuracy. The invention processes regular planets, can obtain high-precision sub-pixel edges and center coordinates, and has good robustness to noise, complex background and rich texture planetary images.

Description

technical field [0001] The present invention relates to the technical field of planet center positioning in deep space autonomous optical navigation, in particular to a high-precision planet center positioning method in deep space autonomous optical navigation, which involves pixel-level arc edge extraction of planets and planet edge interest Filtering of regions and sub-pixel edge coordinate extraction of arc edges. Background technique [0002] Compared with Earth-orbiting spacecraft, deep-space probes have long flight distances and long running times. Traditional ground-based navigation methods have great limitations in real-time performance, observable arcs, and operating costs. It is difficult to meet the needs of detection tasks, and autonomous navigation is an effective way to solve these problems. Autonomous navigation technology based on optical imaging measurement is one of the development trends of aerospace science and technology. [0003] Optical navigation ha...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/32G06K9/40G06K9/44G06K9/46
CPCG06V20/13G06V10/30G06V10/34G06V10/25G06V10/44
Inventor 江洁张勇张广军
Owner BEIHANG UNIV
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