A general approach to terrain relative navigation for planetary landing

Andrew E. Johnson, Adnan Ansar, Larry H. Matthies, Nikolas Trawny, Anastasios I. Mourikis, Stergios I. Roumeliotis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

36 Scopus citations

Abstract

We describe an algorithm for navigation state estimation during planetary descent to enable precision landing. The algorithm automatically produces 2D-to-3D correspondences between descent images and a surface map and 2D-to-2D correspondences through a sequence of descent images. These correspondences are combined with inertial measurements in an extended Kalman filter that estimates lander position, velocity and attitude as well as the time varying biases of the inertial measurements. The filter tightly couples inertial and camera measurements in a resource-adaptive and hence real-time capable fashion. Results from a sounding rocket test, covering the dynamic profile of typical planetary landing scenarios, show estimation errors of magnitude 0.16 m/s in velocity and 6.4 m in position at touchdown. These results vastly improve current state of the art and meet the requirements of future planetary exploration missions.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - 2007 AIAA InfoTech at Aerospace Conference
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
Pages1498-1506
Number of pages9
ISBN (Print)1563478935, 9781563478932
DOIs
StatePublished - 2007
Event2007 AIAA InfoTech at Aerospace Conference - Rohnert Park, CA, United States
Duration: May 7 2007May 10 2007

Publication series

NameCollection of Technical Papers - 2007 AIAA InfoTech at Aerospace Conference
Volume2

Other

Other2007 AIAA InfoTech at Aerospace Conference
Country/TerritoryUnited States
CityRohnert Park, CA
Period5/7/075/10/07

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