TY - GEN
T1 - Autonomous navigation algorithm for precision landing on unknown planetary surfaces
AU - Hyun, Baro
AU - Singla, Puneet
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=60349088159&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=60349088159&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:60349088159
SN - 9780877035442
T3 - Advances in the Astronautical Sciences
SP - 1983
EP - 2002
BT - Space Flight Mechanics 2008 - Advances in the Astronautical Sciences, Proceedings of the AAS/AIAA Space Flight Mechanics Meeting
ER -