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Advanced Optical Terrain Absolute Navigation for Pinpoint Lunar Landing

  • Marco Mammarella
  • Marcos Avilés Rodrigálvarez
  • Andrea Pizzichini
  • Ana María Sánchez Montero

Abstract

Pin-point landing can only be achieved developing precise Absolute Navigation systems. Craters, for their intrinsic properties, are one of the most suitable and robust features identifiable in lunar landscape. The Optical Terrain Absolute Navigation (OTAN) system provides absolute navigation features and is composed by two main parts: the off-line part, focused on the extraction of the Landmark Database; the on-line part instead is focused on the Real Time identification of the craters and the Orbit Determination process. The presented vision-based approach uses Real-Time crater identification in order to extract relevant features from on-board captured images of the lunar surface. The detected craters are fitted with ellipses and matched to a Lunar Crater Database previously created. The matching of the two sets permits the computation of the absolute position of the camera. A Kalman Filter uses this information and the IMU measurements in order to provide precise complete state space information of the vehicle. In this paper, a detailed description of the complete structure of the Optical Terrain Absolute Navigation system based on craters detection and recognition is provided.

Keywords

Inertial Measurement Unit Star Tracker Border Detection Lidar Sensor Navigation Filter 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Marco Mammarella
    • 1
  • Marcos Avilés Rodrigálvarez
    • 1
  • Andrea Pizzichini
    • 1
  • Ana María Sánchez Montero
    • 1
  1. 1.GMVTres CantosSpain

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