Performance of a real-time filter-based hazard detection algorithm
Performance of a real-time filter-based hazard detection algorithm
复制标题
基于实时过滤器的危险检测算法的性能
DOI：
10.1109/aero.2011.5747227
复制
发表时间：
2011
期刊：
影响因子：
--
通讯作者：
Eric Coppock
中科院分区：
文献类型：
--
作者：
R. Rohrschneider;Eric Coppock
着陆危险探测对于科学和探索任务来说是可取的，以便能够进入更多感兴趣的地点，并降低着陆时任务失败的风险。本文探讨了一种基于实时滤波器的危险检测算法的性能，该算法开发用于三维表面数据。测试表面和闪光激光雷达数据用于验证算法相对于已知地形的准确性。目前在文献中发现的最佳方法是平面拟合方法，这被用作基于滤波器的方法的比较点。当着陆器尺寸与可接受坡度和凸点高度适当相关时，两种方法都能获得较好的结果。测量了两种方法的危害检测代码的计算时间，基于滤波器的方法对真实的1800×1800像素表面执行的时间是平面拟合方法所需时间的34%。基于滤波器的危险检测方法在加固商用现成（COTS）嵌入式处理器上用c++语言实现，并集成到危险着陆演示系统中。演示系统实时运行（10hz），使用来自闪光激光雷达系统的真实数据或模拟数据，并允许人类飞行员在危险检测算法的指导下引导虚拟车辆安全着陆。1 2
Landing hazard detection is desirable for science and exploration missions to enable access to more sites of interest and to lower the risk of mission failure at landing. This paper explores the performance of a real-time filter-based hazard detection algorithm developed for use with three dimensional surface data. Test surfaces and flash LIDAR data are used to verify algorithm accuracy relative to known terrain. The current best method found in the literature is a plane fitting method, and this is used as a point of comparison for the filter based method. Both methods produce good results when lander size and acceptable slope and bump height are properly correlated. Computation time of the hazard detection code was measured for both methods, with the filter-based method executing in 34% the time required by the plane fitting method for a realistic 1800×1800 pixel surface. The filter-based hazard detection method was implemented in C++ on a ruggedized commercial off the shelf (COTS) embedded processor and incorporated into a hazardous landing demonstration system. The demonstration system runs in real-time (10 Hz), using either real data from a flash LIDAR system or simulated data, and allows a human pilot to guide a virtual vehicle to a safe landing with the guidance of the hazard detection algorithms.1 2