Autonomous Planetary Navigation via Surface Feature Matching
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Solution Overview
Problem
Navigating a space vehicle relative to a planetary body without ground stations is challenging due to uncertainties caused by local irregularities in the planetary gravitational fields, especially since these irregularities are not well-characterized for bodies like the moon and Mars.
Innovation Solution
A method and system that use an imaging sensor to collect and process images of the planetary surface, identifying edge pixels and angle data to determine planetary features, which are then compared to a predefined planet surface description to determine the vehicle's location, relying on landmarks such as craters, rills, or ridges for navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If ground stations are used for triangulation to determine orbital position, then navigation accuracy is improved, but ground stations are entirely lacking on other planetary bodies making this approach inapplicable
Solution Approach 1:
The space vehicle performs autonomous navigation by processing images of planetary surface features itself, without requiring external ground stations. The vehicle's own imaging sensor and processor identify features, compare them with stored descriptions, and determine position independently, making the system self-sufficient and adaptable to any planetary body with visible surface features.
Solution Approach 2:
The patent replaces the mechanical/infrastructure-based ground station triangulation system with an optical/image-based autonomous feature recognition system. Instead of using ground stations to track and triangulate the vehicle's position, the system uses imaging sensors to capture and process visual data of planetary surface features, substituting a complex infrastructure requirement with a simpler optical measurement approach.
2Ease of operation
If pre-generated positional information is used for navigation, then navigation simplicity is improved, but accuracy deteriorates due to uncertainties caused by local irregularities in planetary gravitational fields
Solution Approach 1:
The system performs preliminary actions by storing comprehensive descriptions of planetary surface features (landmarks, their positions, sizes, and characteristics) in the vehicle's memory before navigation begins. This pre-stored reference data enables rapid comparison and position determination during flight without requiring complex real-time calculations or updates, maintaining simplicity while achieving high accuracy through direct matching against the pre-prepared feature database.
3Adaptability or versatility
If autonomous navigation using image processing is implemented, then adaptability to different planetary bodies is improved, but device complexity increases due to onboard image processing requirements
Solution Approach 1:
The image processing system is segmented into distinct functional modules: an imaging sensor for capturing images, an edge detection component for identifying feature boundaries, a feature identification module for recognizing planetary landmarks, and a position determination component for calculating vehicle location. This segmentation allows each module to be optimized independently and simplifies the overall system architecture, making the complex autonomous navigation capability more manageable and implementable.
Data Source
AI summary
A method of navigating a space vehicle. An image of a planet surface is received. The received image is processed to identify edge pixels and angle data. The edge pixels and angle data are used to identify planetary features by shape, size, and spacing relative to other planetary features. At least some of the planetary features are compared with a predefined planet surface description including sizes and locations of planet landmarks. One or more matches are determined between the planetary feature(s) and the planet surface description. Based on the match(es), a location of the space vehicle relative to the planet is determined.