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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 (2018) Hybrid optical navigation by crater detection for lunar pin-point landing: trajectories from helicopter flight tests. CEAS Space Journal. Springer. DOI: 10.1007/s12567-017-0188-y ISSN 1868-2502

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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 85 kg approached a landing site from altitudes of 50 m down to 1 m for a downrange distance of 200 m. 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 analyze 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. 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 setup. 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/118510/
Document Type:Article
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.dehttps://orcid.org/0000-0002-9729-8450
Theil, StephanStephan.Theil (at) dlr.dehttps://orcid.org/0000-0002-5346-8091
Date:January 2018
Journal or Publication Title:CEAS Space Journal
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1007/s12567-017-0188-y
Publisher:Springer
ISSN:1868-2502
Status:Published
Keywords:Optical navigation, Crater detection, Vision-based navigation, Inertial navigation, Loosely coupled, Kalman filter
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:30 Jan 2018 11:21
Last Modified:31 Jul 2019 20:15

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