Space science and solar system exploration are driving NASA to develop an array of small body missions ranging in scope from near body flybys to complete sample return. This paper presents an algorithm for onboard motion estimation that will enable the precision guidance necessary for autonomous small body landing. Our techniques are based on automatic feature tracking between a pair of descent camera images followed by two frame motion estimation and scale recovery using laser altimetry data. The output of our algorithm is an estimate of rigid motion (attitude and position) and motion covariance between frames. This motion estimate can be passed directly to the spacecraft guidance and control system to enable rapid execution of safe and precise trajectories.


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    Titel :

    Precise Image-Based Motion Estimation for Autonomous Small Body Exploration


    Beteiligte:

    Erscheinungsdatum :

    1998-01-01


    Medientyp :

    Sonstige


    Format :

    Keine Angabe


    Sprache :

    Englisch


    Schlagwörter :





    Precise Image-Based Motion Estimation for Autonomous Small Body Exploration

    Johnson, A. E. / Mathies, L. H. / European Space Agency | British Library Conference Proceedings | 1999


    Precise Image-Based Motion Estimation for Autonomous Small Body Exploration

    Johnson, Andrew Edie / Matthies, Larry H. | NTRS | 2000