陨坑视觉导航的位姿估计误差建模

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关键词：视觉导航；月球极区着陆；位姿估计；误差模型

中图分类号：V448.22；TP391.4 文献标识码：A

doi：10.37188/OPE.20263403.0403 CSTR：32169.14.OPE.20263403.0403

Modeling of pose estimation error in crater visual navigation

HUANG Jianbin1，HE Yuntao 2* ，WANG Anran 3 ，LI Xiaolu¹，XULijun1

（1.School ofInstrumentation and Optoelectronic Engineering，Beihang University ， Beijing 100191， China; 2. School ofElectronic and Information Engineering，Beihang University，Beijing lOol91，China; 3.Beijing Institute of Control Engineering，Beijing 1OOl9O，China） *Corresponding author，E-mail： yuntaohe@buaa. edu.cn

Abstract：High-precision positioning is required for lunar polar landing，and crater-based visual navigation can be used to estimate the lander pose. However，this approach is limited by an insuficiently characterized mechanism for pose estimation error propagation and by the lack of practical engineering parameters. To address these issues，pose eror modeling for crater visual navigation is investigated. A pose eror model based on weighted least squares is proposed to quantify pose erors under the combined efects of multiple factors. First， traceability analysis and baseline modeling of pose erors are performed according to the pose estimation principle of crater visual navigation. Second，a pose eror model is formulated by minimizing the reprojection error. Finall，weighted least squares is applied to obtain quantitative pose eror estimates.Using DEM and DOM data from the lunar polar region，crater visual navigation for a lunar lander is simulated，and Monte Carlo-based experiments are conducted to evaluate the effects of diferent error sources and feature parameters on pose accuracy. When the pixel detection error is 5 pixels and 15 craters are used，the estimated translation error is below 95m . The developed model enables quantitative pose error estimation under multiple contributing factors，and the proposed engineering parameter scheme satisfiesthe 100m -level navigation accuracy requirement for lunar polar landing. This work provides a theoretical basis for the design of crater-based navigation schemes.

Key words： visual navigation; lunar polar landing;pose estimation; error model

1引言

由于月球极区存在潜在的水冰和矿产资源，故月球极区着陆探测是未来人类深空探测的重要环节[]。（剩余12941字）