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.
Terrain Relative Navigation for Planetary Landing Using Stereo Vision Measurements Obtained from Hazard Mapping
2017-12-15
21 pages
Article/Chapter (Book)
Electronic Resource
English
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