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A high-precision planet centering method for autonomous optical navigation in deep space

An optical navigation and center positioning technology, applied in the field of planet center positioning, can solve the problems of being easily affected by noise, the filtering method cannot be processed by planet filtering, the planet image sampling environment is complex, etc., to achieve the effect of improving edge detection accuracy and positioning accuracy.

Active Publication Date: 2021-10-01
BEIHANG UNIV
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Problems solved by technology

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

Method used

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  • A high-precision planet centering method for autonomous optical navigation in deep space
  • A high-precision planet centering method for autonomous optical navigation in deep space
  • A high-precision planet centering method for autonomous optical navigation in deep space

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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: Select 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 lights 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 sobel operator to extract (b) image edge, get as image 3 (...

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Abstract

The invention discloses a high-precision planet center positioning method in deep space autonomous optical navigation, including: firstly, image preprocessing extracts the planet arc edge, and obtains the initial value of the planet center and radius; secondly, a non-local filter The method filters the edge region of interest (EROI) to obtain a better gray distribution of the edge area; third, a local area effect method based on the gradient direction performs sub-pixel positioning on the arc edge of the planet; finally, uses the minimum The quadratic method fits the arc edge to obtain the center coordinates of the high-precision planet. The invention processes regular planets, can obtain high-precision sub-pixel edge and center coordinates, and has good robustness to planetary images with noise, complex backgrounds and rich textures.

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...

Claims

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Application Information

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Patent Type & Authority Patents(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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