Autonomous navigation algorithm for precision landing on unknown planetary surfaces

Baro Hyun, Puneet Singla

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

A localization algorithm is developed to assist automated landing on unknown planetary surface. Classically, using a vision-sensor only, the vehicle states are subject to an observability issue. In order to overcome this problem, relative motion estimates were used as measurements in addition to image-plane data of the feature points. Using these data as measurements, a nonlinear least square estimator was designed that estimates the state vector when a priori knowledge of the state is not available. Furthermore, an Extended Kalman filter with fusing on-board IMU data was developed and shows promising results for future refinement of the previous estimates.

Original languageEnglish (US)
Title of host publicationSpace Flight Mechanics 2008 - Advances in the Astronautical Sciences, Proceedings of the AAS/AIAA Space Flight Mechanics Meeting
Pages1983-2002
Number of pages20
StatePublished - Dec 1 2008

Publication series

NameAdvances in the Astronautical Sciences
Volume130 PART 2
ISSN (Print)0065-3438

Fingerprint

autonomous navigation
planetary surfaces
planetary surface
landing
Landing
navigation
Navigation
Observability
Extended Kalman filters
estimates
state vectors
Kalman filters
Kalman filter
estimators
Sensors
vehicles
sensor
sensors

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Space and Planetary Science

Cite this

Hyun, B., & Singla, P. (2008). Autonomous navigation algorithm for precision landing on unknown planetary surfaces. In Space Flight Mechanics 2008 - Advances in the Astronautical Sciences, Proceedings of the AAS/AIAA Space Flight Mechanics Meeting (pp. 1983-2002). (Advances in the Astronautical Sciences; Vol. 130 PART 2).
Hyun, Baro ; Singla, Puneet. / Autonomous navigation algorithm for precision landing on unknown planetary surfaces. Space Flight Mechanics 2008 - Advances in the Astronautical Sciences, Proceedings of the AAS/AIAA Space Flight Mechanics Meeting. 2008. pp. 1983-2002 (Advances in the Astronautical Sciences).
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Hyun, B & Singla, P 2008, Autonomous navigation algorithm for precision landing on unknown planetary surfaces. in Space Flight Mechanics 2008 - Advances in the Astronautical Sciences, Proceedings of the AAS/AIAA Space Flight Mechanics Meeting. Advances in the Astronautical Sciences, vol. 130 PART 2, pp. 1983-2002.

Autonomous navigation algorithm for precision landing on unknown planetary surfaces. / Hyun, Baro; Singla, Puneet.

Space Flight Mechanics 2008 - Advances in the Astronautical Sciences, Proceedings of the AAS/AIAA Space Flight Mechanics Meeting. 2008. p. 1983-2002 (Advances in the Astronautical Sciences; Vol. 130 PART 2).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Hyun B, Singla P. Autonomous navigation algorithm for precision landing on unknown planetary surfaces. In Space Flight Mechanics 2008 - Advances in the Astronautical Sciences, Proceedings of the AAS/AIAA Space Flight Mechanics Meeting. 2008. p. 1983-2002. (Advances in the Astronautical Sciences).