Abstract This paper discusses the development of a terrain-relative navigation algorithm that uses the output of a stereo-vision based mapping method. It can also be used to create hazard maps, in combination with feature tracking to measure distances to surface points. These points are treated in a simultaneous localisation and mapping-like manner and are therefore added to the filter state. An error-state Kalman filter is used for state estimation. It is shown that this enables more accurate localisation during the final phase of a lander’s descent as compared to relying on inertial-measurement unit information only. It furthermore proves that it can be feasible to partially reuse or combine hazard detection output and terrain relative navigation.


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    Title :

    Terrain Relative Navigation for Planetary Landing Using Stereo Vision Measurements Obtained from Hazard Mapping


    Contributors:


    Publication date :

    2017-12-15


    Size :

    21 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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