Vision-aided inertial navigation for precise planetary landing: Analysis and experiments

Anastasios I. Mourikis, Nikolas Trawny, Stergios I. Roumeliotis, Andrew Johnson, Larry Matthies

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

1 Scopus citations

Abstract

In this paper, we present the analysis and experimentalvalidation of a vision-aided inertial navigation algorithmfor planetary landing applications. The system employs tightintegration of inertial and visual feature measurements to computeaccurate estimates of the lander's terrain-relative position,attitude, and velocity in real time. Two types of features areconsidered: mapped landmarks, i.e., features whose global 3D positionscan be determined from a surface map, and opportunisticfeatures, i.e., features that can be tracked in consecutive images,but whose 3D positions are not known. Both types of features areprocessed in an extended Kalman filter (EKF) estimator and areoptimally fused with measurements from an inertial measurementunit (IMU). Results from a sounding rocket test, covering thedynamic profile of typical planetary landing scenarios, showestimation errors of magnitude 0.16 m/s in velocity and 6.4 min position at touchdown. These results vastly improve currentstate of the art for non-vision based EDL navigation, and meetthe requirements of future planetary exploration missions.

Original languageEnglish (US)
Title of host publicationRobotics
Subtitle of host publicationScience and Systems III
EditorsWolfram Burgard, Oliver Brock, Cyrill Stachniss
PublisherMIT Press Journals
Pages145-152
Number of pages8
ISBN (Print)9780262524841
DOIs
StatePublished - 2008
Event3rd International Conference on Robotics Science and Systems, RSS 2007 - Atlanta, United States
Duration: Jun 27 2007Jun 30 2007

Publication series

NameRobotics: Science and Systems
Volume3
ISSN (Electronic)2330-765X

Other

Other3rd International Conference on Robotics Science and Systems, RSS 2007
CountryUnited States
CityAtlanta
Period6/27/076/30/07

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