An autonomous navigation method to land on the surface of planets has been presented. A method to extract candidates of landing points based on terrain data has been proposed. Tue validity of the proposed method is confirmed by computer simulations. A method to detect the relative attitude and the average altitude with respect to the landing surface has been also presented. A new type range sensor, conical laser scanner is used for navigation. Methods to detect the position and attitude of camera with respect to the target marker are discussed. Simulation results show that the relative position error in the directions parallel to the image plane is small.
Navigation for autonomous landing on unknown planetary surface using conical laser scanner
1997
6 Seiten, 9 Bilder, 2 Tabellen, 11 Quellen
Aufsatz (Konferenz)
Englisch
Satellit , Navigation , Navigationssystem , Planet , Landeverfahren , Laser , Abtastung , Laser-Scanner
Navigation for Autonomous Landing on Unknown Planetary Surface Using Conical Laser Scanner
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