基于视觉的火星探测器着陆运动参数估计
Accurate estimation of the motion parameters of the Mars rover’s vision-based landing
云南民族大学学报:自然科学版,2016,25(4):361-366

沈莹莹 SYY

摘要


火星探测是我国深空探测的重要目标之一,精确估计火星探测器自主着陆时的运动参数是实现自主着陆的前提.在探测器所携带相机内参数已知的情况下,研究2幅图片中特征点之间的对应关系,得出火星探测器空间三维运动信息,以实现其运动参数估计.首先进行特征点检测,然后进行特征点匹配,根据匹配结果估计出基础矩阵F;然后进行本质矩阵的计算、姿态解算和幅值恢复,对所得运动参数进行非线性优化;最后通过仿真实验验证了上述方法的有效性. Mars is one of the important spatial explorations of our country, while an accurate estimation of the motion parameters of the Mars rover’s autonomous landing is the premise for its successful landing. With the known parameters obtained through the camera in the Mars rover, the paper analyzes the corresponding relations between the feature points in two images, and obtains the three-dimensional motion information of the Mars rover. First, it is the examination of the feature points, then the matching of the feature points, and, according to the matching results, it estimates the fundamental matrix F; then the calculation of the essential matrix, the attitude algorithm and amplitude recovery, and finally the motion parameters obtained for nonlinear optimization. The simulation results verify the validity of the method.

参考



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