Asteroid probe autonomous vision positioning system and method fused with orbit dynamics

Abstract

The invention relates to an asteroid probe autonomous vision positioning system and method fused with orbital dynamics. The system comprises a visual sensor, a visual SLAM positioning module, a gravitational field modeling module and an orbit optimization module. The visual sensor is used for shooting asteroid surface images; the visual SLAM positioning module performs feature extraction matching and tracking, estimates the pose of the detector and corrects a visual accumulative error; the gravitational field modeling module reconstructs a planet surface three-dimensional model, carries out dense reconstruction, carries out gridding processing on point clouds, and then carries out modeling on an asteroid gravitational field based on a polyhedron method; the orbit optimization module analyzes and corrects the inversion vision initial orbit determination error according to the estimated detector pose and gravitational field modeling. According to the method, the irregular gravitational field of the planet is solved based on the estimated probe pose and gravitational field modeling, the propagation process of the initial vision orbit determination error in orbit dynamics is analyzed and inverted, the accumulated vision positioning error is corrected, and high-precision navigation positioning is achieved.

Description

technical field [0001] The invention relates to the field of asteroid detection, in particular to an autonomous visual positioning system and method for an asteroid detector integrated with orbital dynamics. Background technique [0002] Asteroid detection aims to obtain basic information such as its resource composition, morphological structure, and motion characteristics, which is of great significance for understanding the solar system and studying the origin and evolution of life. Due to the long distance between the asteroid and the earth, the communication transmission delay is long, and the probe needs to have the ability of autonomous detection when it approaches the target celestial body. Among them, autonomous navigation and surface modeling are the key technologies for the autonomous detection of the planet, which can realize the acquisition of the spacecraft relative to the asteroid. Basic information such as the position, attitude and 3D model of the surface. ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the existing deep space autonomous visual navigation system needs to conduct long-term pre-flying observations on asteroids, and at the same time, the feature references marked in advance are easily affected by changes in illumination, scale, and viewing angle

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