Design of a Visual Pose Estimation Algorithm for Moon Landing
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866915164363685888 |
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| author | Süslü, Atakan Kuran, Betül Rana Söken, Halil Ersin |
| author_facet | Süslü, Atakan Kuran, Betül Rana Söken, Halil Ersin |
| contents | In order to make a pinpoint landing on the Moon, the spacecraft's navigation system must be accurate. To achieve the desired accuracy, navigational drift caused by the inertial sensors must be corrected. One way to correct this drift is to use absolute navigation solutions. In this study, a terrain absolute navigation method to estimate the spacecraft's position and attitude is proposed. This algorithm uses the position of the craters below the spacecraft for estimation. Craters seen by the camera onboard the spacecraft are detected and identified using a crater database known beforehand. In order to focus on estimation algorithms, image processing and crater matching steps are skipped. The accuracy of the algorithm and the effect of the crater number used for estimation are inspected by performing simulations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_14942 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Design of a Visual Pose Estimation Algorithm for Moon Landing Süslü, Atakan Kuran, Betül Rana Söken, Halil Ersin Robotics Computer Vision and Pattern Recognition Systems and Control In order to make a pinpoint landing on the Moon, the spacecraft's navigation system must be accurate. To achieve the desired accuracy, navigational drift caused by the inertial sensors must be corrected. One way to correct this drift is to use absolute navigation solutions. In this study, a terrain absolute navigation method to estimate the spacecraft's position and attitude is proposed. This algorithm uses the position of the craters below the spacecraft for estimation. Craters seen by the camera onboard the spacecraft are detected and identified using a crater database known beforehand. In order to focus on estimation algorithms, image processing and crater matching steps are skipped. The accuracy of the algorithm and the effect of the crater number used for estimation are inspected by performing simulations. |
| title | Design of a Visual Pose Estimation Algorithm for Moon Landing |
| topic | Robotics Computer Vision and Pattern Recognition Systems and Control |
| url | https://arxiv.org/abs/2502.14942 |