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UKF-SLAM Implementation for the Optical Navigation System of a Lunar Lander

García Mayo, Laura Cristina (2017) UKF-SLAM Implementation for the Optical Navigation System of a Lunar Lander. DLR-Interner Bericht. DLR-IB-FT-BS-2017-313. Master's. Aalto University.

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Abstract

This thesis project addresses the problem of state estimation in the context of the optical navigation system of an autonomous lunar lander. This work presents a state estimator based on the Unscented Kalman Filter and the Simultaneous Localization and Mapping algorithm. The proposed estimator complies with two requirements: use of a single camera to interface with the environment and accurate state estimation in absence of absolute position references, such as measurements of vehicle's position in world coordinates. In order to cope with the first constrain, the Inverse Depth Parametrization is introduced to model the 3D landmarks observed from the camera.

Item URL in elib:https://elib.dlr.de/194347/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:UKF-SLAM Implementation for the Optical Navigation System of a Lunar Lander
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
García Mayo, Laura CristinaAalto UniversityUNSPECIFIEDUNSPECIFIED
Date:August 2017
Open Access:No
Status:Published
Keywords:Unscented Kalman Filter, UKF, Simultaneous Localization and Mapping, SLAM, Inverse Depth, lunar lander
Institution:Aalto University
Department:School of Electrical Engineering
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Components and Systems
DLR - Research area:Aeronautics
DLR - Program:L CS - Components and Systems
DLR - Research theme (Project):L - Unmanned Aerial Systems
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Institute of Flight Systems
Deposited By: Ammann, Nikolaus Alexander
Deposited On:22 Feb 2024 10:48
Last Modified:22 Feb 2024 10:48

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