Pose Estimation Method for Small Celestial Detector Based on Solar Panel Projection and Template Matching

Abstract

The invention discloses a method for estimating the pose of a small celestial body detector based on solar panel projection and template matching, so as to solve the problem of estimating the pose of the small celestial body detector during the descent and landing section. First establish the navigation and projection coordinate system, and then calculate the roll angle and pitch angle change angle of the detector based on the solar panel projection information extracted from the navigation image, and perform template correction on the previous navigation image according to the obtained angle information, and finally use Template matching solves the rotation angle and position change between the corrected template image and the image to be matched, and obtains the real-time pose information of the detector. This scheme makes full use of the projection information of the detector's solar panel captured by the navigation camera on the surface of the small celestial body, avoiding the insufficient number of star catalog features at the landing end for navigation and positioning, and the difficulty and long time of traditional navigation landmark extraction and matching. problem, improve the real-time performance of the navigation algorithm, and ensure the accurate estimation of the detector pose.

Description

technical field [0001] The invention belongs to the field of autonomous navigation for deep space exploration and is applied in the landing process of small celestial bodies, and in particular relates to a method for estimating the position and orientation of small celestial body detectors based on solar panel projection and template matching. Background technique [0002] In recent years, the exploration of small celestial bodies has become a difficult but scientifically meaningful deep space exploration task. However, compared with planetary exploration missions, small celestial body missions have the characteristics of distant detection targets, long flight times, dynamic and changeable environments, and long time delays in communication between ground measurement and control stations and probes. Therefore, small astrophysical probes need to rely on their own equipment to complete deep space exploration tasks autonomously. [0003] With the development of high-performanc...

AI Technical Summary

Problems solved by technology

During the landing process of the small celestial body detector, the amount of characteristic information of the small celestial body obtained before landing is small, and the model and physical parameters of the small celestial body are mainly obtained through the detection of the orbiting section, and accurate modeling cannot be realized

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