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Visual Navigation for Autonomous, Precise and Safe Landing on Celestial Bodies using Unscented Kalman Filtering

Ammann, Nikolaus Alexander and Andert, Franz (2017) Visual Navigation for Autonomous, Precise and Safe Landing on Celestial Bodies using Unscented Kalman Filtering. In: IEEE Aerospace Conference Proceedings. IEEE Aerospace Conference, 04.-11. März 2017, Big Sky, Montana, USA.

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Abstract

This paper explores the state estimation problem for an autonomous precise landing approach on celestial bodies. As part of the project “Autonomous Terrain-based Optical Navigation” (ATON) of the German Aerospace Center (DLR) this paper describes the central state estimation algorithm. This algorithm combines high rate inertial navigation with low rate sensor fusion. The description includes the software architecture of the developed navigation system and the estimator, which is based on an Unscented Kalman Filter (UKF). The UKF equations are presented as well as the specific Transition and observation models. Additionally, different image processing modules, providing the UKF with position updates, are described shortly. Finally, the evaluation of the implemented system based on performed flight tests imitating a landing on the Moon is presented. These tests show that the method is capable of providing a robust navigation solution during the landing approach.

Item URL in elib:https://elib.dlr.de/111698/
Document Type:Conference or Workshop Item (Speech)
Title:Visual Navigation for Autonomous, Precise and Safe Landing on Celestial Bodies using Unscented Kalman Filtering
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Ammann, Nikolaus AlexanderNikolaus.Ammann (at) dlr.dehttps://orcid.org/0000-0001-6091-4478
Andert, FranzFranz.Andert (at) dlr.deUNSPECIFIED
Date:March 2017
Journal or Publication Title:IEEE Aerospace Conference Proceedings
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:optical navigation, state estimation, inertial navigation, unscented Kalman filter,
Event Title:IEEE Aerospace Conference
Event Location:Big Sky, Montana, USA
Event Type:international Conference
Event Dates:04.-11. März 2017
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Projekt ATON
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Ammann, Nikolaus Alexander
Deposited On:06 Apr 2017 14:31
Last Modified:06 Apr 2017 14:31

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