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Wu W.-R.,Lunar Exploration Engineering Center | Wu W.-R.,National Key Laboratory of Science and Technology Space Intelligent Control | Li J.,Beijing Institute of Control Engineering | Li J.,National Key Laboratory of Science and Technology Space Intelligent Control | And 7 more authors.
Yuhang Xuebao/Journal of Astronautics | Year: 2015

Inertial navigation system (INS) is not sufficient to lead a probe to land on an extraterrestrial body safely, because its calculation error grows up with time. A practical navigation method which combines INS with rangefinder and doppler velocimetry is proposed to solve this problem. Altimeter and velocimetry can give direct measurements of altitude and three-dimensional surface-relative velocity respectively, and can be used to correct the outputs of INS. In this paper, the principle of INS and the strategy of altitude and velocity modification are introduced. And these key problems about the descent dynamics, sensor measurement models, filtering equations, influence of terrains are discussed in details. Numerical simulation results indicate that this method can satisfy the requirement of extraterrestrial bodies for safe landing. © 2015, Editorial Dept. of JA. All right reserved.


Mao X.,Beijing Institute of Control Engineering | Mao X.,National Key Laboratory of Science and Technology Space Intelligent Control | Chen J.,Beijing Institute of Control Engineering | Xing Y.,Beijing Institute of Control Engineering | And 7 more authors.
Chinese Control Conference, CCC | Year: 2014

This paper introduces the vision technology for auto-navigation on the lunar surface in CE-3 project. The basic principle of stereo vision by navigation cameras and hazard cameras is explicated. The idiographic reality including inner parameter correction, epipolar line rectification, DOG filter, dense matching, disparity map filter and 3D coordinate calculation are described in details and the process results of real lunar images are brought out in the end. © 2014 TCCT, CAA.

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