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Hybrid Optical Navigation by Crater Detection for Lunar Pin-point Landing: Trajectories from Helicopter Flight Tests

Trigo, Guilherme Fragoso and Maass, Bolko and Krüger, Hans and Theil, Stephan (2017) Hybrid Optical Navigation by Crater Detection for Lunar Pin-point Landing: Trajectories from Helicopter Flight Tests. 10th International ESA Conference on Guidance, Navigation and Control Systems, 29 May - 02 Jun 2017, Salzburg, Austria.

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Abstract

Accurate autonomous navigation capabilities are essential for future lunar robotic landing missions with a pin-point landing requirement, since in the absence of direct line of sight to ground control during critical approach and landing phases, or when facing long signal delays the herein before mentioned capability is needed to establish a guidance solution to reach the landing site reliably. This paper focuses on the processing and evaluation of data collected from flight tests that consisted of scaled descent scenarios where the unmanned helicopter of approximately 85kg approached a landing site from altitudes of 50m down to 1m for a downrange distance of 200m. Printed crater targets were distributed along the ground track and their detection provided earth-fixed measurements. The Crater Navigation (CNav) algorithm used to detect and match the crater targets is an unmodified method used for real lunar imagery. We analyse the absolute position and attitude solutions of CNav obtained and recorded during these flight tests, and investigate the attainable quality of vehicle pose estimation using both CNav and measurements from a Tactical-grade Inertial Measurement Unit (IMU). The navigation filter proposed for this end corrects and calibrates the high-rate inertial propagation with the less frequent crater navigation fixes through a closed-loop, loosely coupled hybrid set-up. Finally, the attainable accuracy of the fused solution is evaluated by comparison with the on-board ground-truth solution of a dual-antenna high-grade GNSS receiver. It is shown that the CNav is an enabler for building autonomous navigation systems with high quality and suitability for exploration mission scenarios.

Item URL in elib:https://elib.dlr.de/112620/
Document Type:Conference or Workshop Item (Lecture)
Title:Hybrid Optical Navigation by Crater Detection for Lunar Pin-point Landing: Trajectories from Helicopter Flight Tests
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Trigo, Guilherme Fragosoguilherme.trigo (at) dlr.dehttps://orcid.org/0000-0001-8173-9592
Maass, Bolkobolko.maass (at) dlr.dehttps://orcid.org/0000-0002-2706-5432
Krüger, Hanshans.krueger (at) dlr.deUNSPECIFIED
Theil, Stephanstephan.theil (at) dlr.dehttps://orcid.org/0000-0002-5346-8091
Date:2017
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:optical navigation, crater detection, vision-based navigation, inertial navigation, loosely coupled, Kalman filter
Event Title:10th International ESA Conference on Guidance, Navigation and Control Systems
Event Location:Salzburg, Austria
Event Type:international Conference
Event Dates:29 May - 02 Jun 2017
Organizer:ESA
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: Bremen
Institutes and Institutions:Institute of Space Systems > Navigation and Control Systems
Deposited By: Trigo, Guilherme Fragoso
Deposited On:08 Jun 2017 10:28
Last Modified:28 Oct 2017 19:10

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