行星着陆自主导航地形特征综合优化方法

Integrated Optimization of Navigation Features for Planetary Landing

针对行星着陆光学导航方案优化问题,提出了一种基于可观测度的导航地形特征综合优化方法。该方法首先利用星表形貌图像信息建立不同几何特性特征的测量方程,基于可观测度矩阵和Fisher信息矩阵分析导航系统的可观测度和估计误差下限,揭示特征位置和数量与导航系统性能间的关系,在此基础上以导航系统可观测度和估计误差下限为评价指标分别对随机分布导航地形特征点,直线和曲线进行优化选取,最后综合对比分析了利用不同特征点,直线和曲线对导航方案性能的影响,并通过仿真验证了相关结论。

Aiming at the optimization of optical navigation scheme for planetary landing,this paper proposes an integrated optimization method based on observability.Firstly,the measurement equations of different geometric characteristics are established by using the image information of landmarks.Based on the observability matrix and Fisher information matrix,the observability and the lower limit of estimation error of navigation system are analyzed,and the relationship between the location and quantity of characteristics and the performance of navigation system is revealed.Then,the observability and the lower limit of estimation error of navigation system are used as the evaluation indexes respectively.At last,the influence of different feature points,lines and curves on the performance of navigation scheme is analyzed,and the relevant conclusions are verified by simulation.