Planetary surface navigation landmark matching method based on contour point set

A matching method and contour point technology, applied in the field of deep space detection, to achieve the effects of easy processing, high matching rate, and high accuracy of detector pose determination
CN112906573AActive Publication Date: 2021-06-04BEIJING INSTITUTE OF TECHNOLOGYGY
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
BEIJING INSTITUTE OF TECHNOLOGYGY
Publication Date
2021-06-04

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Abstract

The invention relates to a planetary surface navigation landmark matching method based on a contour point set, and belongs to the field of deep space exploration. According to the invention, the detector carries out navigation landmark edge detection and fitting on a planet surface image A and a database map B, and contour point set coordinates are obtained through navigation landmark fitting contour discretization. The similarity distance of the obtained discrete point set is calculated. Three pairs of navigation road signs with minimum numerical values in the point set similarity matrix are selected as effective matching road signs, and a homography transformation matrix is calculated; and affine transformation coordinates of the center coordinates of the navigation landmarks of the image to be matched is obtained through the homography transformation matrix, distance deviation is calculated by utilizing the center pixel coordinates of the navigation landmarks of the image, a matching distance matrix is constructed, and the navigation landmark with the minimum matching distance is searched as the matching landmark. According to the method, the matching applicable objects are wider, topographies such as meteorite craters, rocks and gullies in optical images can be matched at the same time, and the method is suitable for matching and tracking of sequence images and database maps.
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Description

technical field

[0001] The invention relates to a method for matching planetary surface navigation landmarks based on contour point sets, and is particularly suitable for matching sequence images in the deep space exploration and navigation process and matching landing images and databases, and belongs to the field of deep space exploration. Background technique

[0002] Planetary exploration will be one of the core tasks of deep space exploration in the future, and the matching of planetary surface terrain features is one of the key technologies for optical autonomous navigation. The deep space exploration has a long voyage distance and long communication time, and the traditional ground-based measurement and control method has a large communication delay. In addition, the dynamic environment of deep space is complex, and the navigation mode based on ground remote control can no longer meet the needs of high-precision navigation. With the breakthrough and development of co...

Claims

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