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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Mourikis, A.I. Trawny, N. Roumeliotis, S.I. Johnson, A.E. Ansar, A. Matthies, L. |
| Copyright Year | 2004 |
| Abstract | In this paper, we present the vision-aided inertial navigation (VISINAV) algorithm that enables precision planetary landing. The vision front-end of the VISINAV system extracts 2-D-to-3-D correspondences between descent images and a surface map (mapped landmarks), as well as 2-D-to-2-D feature tracks through a sequence of descent images (opportunistic features). An extended Kalman filter (EKF) tightly integrates both types of visual feature observations with measurements from an inertial measurement unit. The filter computes accurate estimates of the lander's terrain-relative position, attitude, and velocity, in a resource-adaptive and hence real-time capable fashion. In addition to the technical analysis of the algorithm, the paper presents validation results from a sounding-rocket test flight, showing estimation errors of only 0.16 m/s for velocity and 6.4 m for position at touchdown. These results vastly improve current state of the art for terminal descent navigation without visual updates, and meet the requirements of future planetary exploration missions. |
| Sponsorship | IEEE Robotics and Automation Society |
| Starting Page | 264 |
| Ending Page | 280 |
| Page Count | 17 |
| File Size | 1531233 |
| File Format | |
| ISSN | 15523098 |
| Volume Number | 25 |
| Issue Number | 2 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-04-01 |
| Publisher Place | U.S.A. |
| Access Restriction | One Nation One Subscription (ONOS) |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Inertial navigation Space vehicles Space technology NASA Laboratories Extraterrestrial measurements Measurement units Orbital robotics Mars Propulsion vision-aided inertial navigation Descent and landing (EDL) entry localization sensor fusion space robotics |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications |
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