全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...
科学通报  2015 

嫦娥三号月面巡视探测器高精度定位

DOI: 10.1360/N972014-00455, PP. 372-378

Keywords: 嫦娥三号,月面巡视探测器,定位,相机标定,立体图像条带网

Full-Text   Cite this paper   Add to My Lib

Abstract:

高精度的定位技术是嫦娥三号月面巡视探测器在月表实施科学探测任务的重要保障,本文提出了适用于月面环境无高精度控制点的立体图像条带网定位方法.首先,在地面控制场中,采用基于控制点的光束法平差方法获得精确的相机标定参数,进而计算出立体相机的摄影基线和相对方位元素.其次,通过像点匹配、前方交会完成图像的立体模型构建,然后根据不同摄站间的连接点序列建立立体图像条带网.依据连接点坐标观测值的权矩阵和扩展正交Procrustes理论,对立体图像条带网的数学模型进行最小二乘平差,直接获得月面巡视探测器的位置与姿态信息.最后在室内试验场内进行了新方法和传统光束法平差方法的对比验证,结果表明新方法在稳定性和计算效率方面优于后者,探测器定位精度相当.在此基础上,新方法应用于嫦娥三号月面巡视探测器的遥操作系统,充分满足了探测器的定位需求.

References

[1]  5 Ma Y Q, Liu S C, Jia Y, et al. Experimental research of navigation and localization algorithm based on stereo images for the lunar rover (in Chinese). Sci Sin Tech, 2014, 44: 1097-1104 [马友青, 刘少创, 贾阳, 等. 基于立体图像的月球车导航定位试验研究. 中国科学: 技术科学, 2014, 44: 1097-
[2]  6 Di K, Xu F, Wang J, et al. Photogrammetric processing of rover imagery of the 2003 Mars exploration rover mission. J Photogr Remote Sensing, 2008, 63: 181-201
[3]  7 Ma Y Q, Jia Y H, Liu S C, et al. Bundle adjustment based on LM algorithm for rover navigation and localization (in Chinese). J Northeastern Univ (Natural Science), 2014, 35: 489-493 [马友青, 贾永红, 刘少创, 等. 基于LM法的光束法平差巡视器导航定位. 东北大学学报(自然科学版), 2014, 35: 489-
[4]  10 Weng J Y. Camera calibration with distortion models and accuracy evaluation. IEEE Trans PAMI, 1992, 14: 965-980
[5]  11 Wu W R, Wang D Y, Xing Y, et al. Binocular visual odometry algorithm and experimentation research for the lunar rover (in Chinese). Sci Sin Inf, 2011, 41: 1415-1422 [吴伟仁, 王大轶, 邢琰, 等. 月球车巡视探测的双目视觉里程算法与实验研究. 中国科学: 信息科学, 2011, 41: 1415-
[6]  1 Sun Z Z, Jia Y, Zhang H. Technological advancements and promotion roles of Chang'E-3 lunar probe mission. Sci China Tech Sci, 2013, 56: 2702-2708
[7]  2 Jiang Y, Liu S C, Li M L, et al. Chang'E-3 system pinpoint landing localization based on descent image sequence (in Chinese). Chin Sci Bull, 2014, 59: 1838-1843 [贾阳, 刘少创, 李明磊, 等. 利用降落影像序列实现嫦娥三号系统着陆点高精度定位. 科学通报, 2014, 59: 1838-
[8]  3 Shi D L, Ye P J, Jia Y. Study on Chinese lunar rover location methods. Spacecr Eng, 2006, 15: 14-20 [石德乐, 叶培建, 贾阳. 我国月面巡视探测器定位方法研究. 航天器工程, 2006, 15: 14-
[9]  4 Shi D L, Ye P J, Jia Y, et al. Research on lunar rover locating method based on lander stereo vision. Spacecr Eng, 2007, 16: 25-32
[10]  8 Wang B F, Zhou J L, Tang G S, et al. Research on visual localization method of lunar rover (in Chinese). Sci Sin Inf, 2014, 44: 452-460 [王保丰, 周建亮, 唐歌实, 等. 嫦娥三号巡视器视觉定位方法. 中国科学: 信息科学, 2014, 44: 452-
[11]  9 Wang Z Z. Principle of Photogrammetry (in Chinese). Wuhan: Wuhan University Press, 1990 [王之卓. 摄影测量原理. 武汉: 武汉大学出版社,
[12]  12 Akca D. Generalized Procrustes Analysis and Its Applications in Photogrammetry. Zurich: ETH Zurich, 2004. 10-15
[13]  13 Crosilla F, Beinat A. Use of generalised Procrustes analysis for the photogrammetric block adjustment by independent models. J Photogr Remote Sensing, 2002, 56: 195-209
[14]  14 Ma Y Q, Liu S C, Wei S Y, et al. Research on terrestrial analytical photogrammetry with weighted total least squares (in Chinese). Geomat Inf Sci Wuhan Univ, 2013, doi: 10.13203/j.whugis20130387 [马友青, 刘少创, 魏士俨, 等. 加权总体最小二乘的地面解析摄影测量算法. 武汉大学学报(信息科学版), 2013, doi: 10.13203/j.whugis

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133