An autonomous optical navigation and guidance for soft landing on asteroids
An autonomous optical navigation and guidance for soft landing on asteroids
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DOI：
10.1016/j.actaastro.2003.09.001
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发表时间：
2004-05
影响因子：
3.5
通讯作者：
Xiangyu Huang;Hu-tao Cui;Pingyuan Cui
中科院分区：
文献类型：
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作者：
Xiangyu Huang;Hu-tao Cui;Pingyuan Cui
研究了小行星软着陆自主光学导航与制导算法。首先，探测器相对于目标小行星的位置是通过使用光学导航相机获得的小行星表面上的三个选定的特征点（FP）的图像坐标和使用激光测距仪测量的从探测器到每个FP的距离来获取的。并采用无迹卡尔曼滤波代替扩展卡尔曼滤波来实时确定探测器轨道，以提高导航精度。其次，计划满足在小行星上软着陆要求的期望下降高度和速度。然后采用变结构控制方法设计跟踪控制律，以保证制导律的快速准确响应和鲁棒性。最后，形成了导航和制导算法，并通过数值仿真验证了算法的有效性。
The autonomous optical navigation and guidance algorithm for soft landing on asteroids is presented. First, the probe position relative to targeted asteroid is acquired from the image coordinates of three selected feature points (FPs) on the asteroid surface obtained by using an optical navigation camera and the distances from the probe to each FP measured using a laser range finder. And the real-time probe orbit is determined by using unscented Kalman filter instead of extended Kalman filter to improve the navigation accuracy. Second, the desired descent altitude and velocity to satisfy the requirements of soft landing on asteroids is planned. The variable structure control is then used to design the tracking control law to ensure the fast and accurate response and robustness of guidance law. Finally, the navigation and guidance algorithm is formed and the effectiveness of algorithm is verified by numerical simulations.