Research On Autonomous Navigation Method Based On Information Fusion For Mars Landing And Semi-physical Simulation

With the development of science and technology in our country,deep space exploration has been listed as the focus of the national scientific research.Mars exploration is a difficult and challenging task.As it’s far away from the earth to Mars,in order to ensure the mission successful,the development for new autonomous navigation method is necessary.Based on the background,this paper combing with the 973 sub topic 5,studied the autonomous navigation for Mars Landing and simulated on the ground semi-physical simulation platform.The main contents of the paper are as follows:First of all,according to the Martian environment,define the various coordinate system required for landing and on the basis of this,build the model of the attitude dynamics and the orbit dynamics.Then the performance of the sensors in the landing navigation system are analyzed.Second,according to the need of the feature points in optical navigation,the corner detection is selected to analyzed.The Moravec corner detection method and the Harris corner detection method are researched.For Harris corner detection method,by changing the corner response function,an improved Harrris corner detection method is presented.The method reduce the error points and implement the Martian surface feature points recognition.Third,semi-physical simulation platform of six degrees of freedom is built and based on the feature points detection methods,the autonomous navigation method for the fusion of optical and inertial information is researched.By Optical navigation camera and Laser range finder,the relative position and attitude information of the lander is obtained in the feature points’ coordinate system.By the EKF,the Optical and inertial information are fused,and the accuracy of the autonomous navigation method is improved effectively.Finally,for the autonomous navigation method for Mars landing,make simulation experiment on the semi-physical simulation platform.By controlling the servo motor,the three axis position movement and three-dimensional rotation can be controlled.At last,the positions of the final landing section and the navigation solution value can be obtained and the two values were used to do the accuracy analysis.