Dual-Camera Positioning With Star Tracking for Lunar 3D Pose
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Solution Overview
Problem
Existing positioning systems on the lunar surface face challenges in accurately determining the three-dimensional position and attitude angle of moving objects, particularly when dealing with rugged terrain and high-speed movements, due to limitations in visible light communication and the need for precise installation of light sources.
Innovation Solution
A positioning system utilizing two cameras for visible light communication and a star tracker camera, which integrates data from light sources and fixed stars to estimate the attitude angle and three-dimensional position, incorporating a processor to weigh and combine data from multiple sources for enhanced precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If visible light communication is used for positioning, then positioning can be achieved, but the number of light sources required increases system complexity
Solution Approach 1:
The patent combines visible light communication positioning with star tracker positioning into a unified system. The position obtaining device integrates data from both light sources (detected by first camera) and fixed stars (detected by second camera) to estimate attitude angles and three-dimensional positions, thereby achieving accurate positioning while reducing dependence on numerous light sources.
Solution Approach 2:
The positioning system serves multiple functions: it can determine position using visible light communication when light sources are available, and simultaneously or alternatively use star tracker technology for positioning when light sources are insufficient or unavailable. This multi-functional approach enhances positioning reliability without requiring a large number of light sources.
2Measurement precision
If multiple light sources are used to improve positioning accuracy, then measurement precision improves, but device complexity increases
Solution Approach 1:
The patent introduces fixed stars as an intermediary reference for positioning. Instead of relying solely on multiple artificial light sources, the system uses naturally occurring fixed stars detected by the star tracker camera as additional reference points. This intermediary approach provides positioning capability without requiring deployment of numerous artificial light sources across the environment.
Solution Approach 2:
The patent transitions from two-dimensional image coordinate detection to three-dimensional position estimation by integrating data from both visible light cameras and star tracker. By combining observations from multiple cameras and using spatial relationships in three dimensions, the system achieves accurate positioning with fewer light sources.
3Productivity
If the position obtaining device moves at high speed, then productivity increases, but measurement precision deteriorates due to motion blur and difficulty in capturing light sources
Solution Approach 1:
The patent implements continuous positioning by continuously obtaining images from both visible light cameras and star tracker camera, and continuously estimating position and attitude angles. This continuous measurement approach ensures positioning accuracy is maintained even during high-speed movement, as the system constantly updates position information without interruption.
Solution Approach 2:
The system uses feedback from multiple observation sources (visible light cameras detecting light sources and star tracker camera detecting fixed stars) to continuously correct and refine position estimates. This multi-source feedback mechanism compensates for motion effects and maintains positioning accuracy during high-speed operation.
Data Source
AI summary
A position obtaining device includes a processor. The processor, in response to a condition being met, derives a first attitude angle as an attitude angle of the device based on first light sources and positions thereof on an image obtained by a first camera; in response to the attitude angle of the device being known, derives a three-dimensional position of the device based on two or more second light sources and positions thereof on an image obtained by a second camera, and in response to a predetermined number of second light sources or more being captured in the image, derives the three-dimensional position and a second attitude angle as the attitude angle of the device; and integrates a result of the first attitude angle and a result of the three-dimensional position and the second attitude angle to estimate the attitude angle and the three-dimensional position of the device.