副教授 博士生导师
招生学科专业:
光学工程 -- 【招收硕士研究生】 -- 航天学院
航空宇航科学与技术 -- 【招收博士、硕士研究生】 -- 航天学院
电子信息 -- 【招收硕士研究生】 -- 航天学院
机械 -- 【招收博士、硕士研究生】 -- 航天学院
性别:男
毕业院校:哈尔滨工业大学
学历:哈尔滨工业大学
学位:工学博士学位
所在单位:航天学院
办公地点:将军路校区D11栋 A217
联系方式:Email:yuxy21@nuaa.edu.cn
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所属单位:航天学院
发表刊物:Adv. Space Res.
摘要:In this paper, a novel crater-aided inertial navigation approach for autonomous asteroid landing mission is developed. It overcomes the major deficiencies of existing approaches in the literature, which mainly focuses on the case where craters are abundant in the camera field of view. As a result, traditional crater based methods require at least three craters to achieve crater matching, which limits their application in final landing phase where craters are scarce in the camera's field of view. In contrast, the proposed algorithm enables single crater based crater matching based on a novel 2D-3D crater re-projection model. The re-projection model adopts inertial measurements as a reference, and re-projects the 3D crater model onto descent images to achieve the matching to its counterpart. An asteroid landing simulation toolbox is developed to validate the performance of the proposed approach. Through comparison with the state-of-the-art local image feature and crater based navigation algorithms, the proposed approach is validated to achieve a competitive performance in terms of feature matching and pose estimation accuracy with a much lighter computational cost. © 2018 COSPAR
ISSN号:0273-1177
是否译文:否
发表时间:2019-01-01
合写作者:李爽,Wang, Shuquan,Huang, Xiangyu
通讯作者:余萌