Simultaneous estimation of shape and motion of an asteroid for automatic navigation
Simultaneous estimation of shape and motion of an asteroid for automatic navigation
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DOI：
10.1109/icra.2015.7139589
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发表时间：
2015-05
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影响因子：
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通讯作者：
Naoya Takeishi;T. Yairi;Y. Tsuda;F. Terui;N. Ogawa;Y. Mimasu
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作者：
Naoya Takeishi;T. Yairi;Y. Tsuda;F. Terui;N. Ogawa;Y. Mimasu
在小行星探测和样本返回任务中，准确估计目标小行星的形状和运动是选择着陆点和在着陆点操作中导航航天器的必要条件。在这项工作中，我们提出了一种小行星形状和运动的自动估计方法，计划在未来的探测任务中进行测试，包括日本隼鸟-2[1]。我们的任务是从光学图像中估计小行星的形状和旋转轴，以及航天器的位置。该方法基于期望条件最大化（ECM）框架，该框架由辅助粒子滤波和非线性优化技术组成。我们的技术贡献之一是从移动的航天器拍摄的单目相机图像中估计小行星旋转轴的方向。我们用合成数据和一个小行星模型进行了两次实验，以证明所提出方法的有效性和数值精度。
In an asteroid exploration and sample return mission, accurate estimation of the shape and motion of the target asteroid is essential for selecting a touchdown site and navigating a spacecraft during touchdown operation. In this work, we present an automatic estimation method for the shape and motion of an asteroid, which is planned to be tested in future exploration missions including Japanese Hayabusa-2 [1]. Our task is to estimate the shape and rotation axis of the asteroid, as well as positions of the spacecraft from optical images. The proposed method is based on the expectation conditional-maximization (ECM) framework that consists of an auxiliary particle filter and nonlinear optimization techniques. One of our technical contributions is the estimation of the direction of rotation axis of the asteroid from monocular camera images, which are taken by the moving spacecraft. We conducted two experiments with synthetic data and an asteroid mock-up to show the validity of the proposed method and to present the numerical accuracy.