Autonomous navigation algorithm for precision landing on unknown planetary surfaces

Baro Hyun, Puneet Singla

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

2 Scopus citations

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
Publication statusPublished - Dec 1 2008

Publication series

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

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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).