Vision-aided inertial navigation for pin-point landing on Mars

Jianguo Li; Hutao Cui

doi:10.1109/ICICIP.2011.6008189

Vision-aided inertial navigation for pin-point landing on Mars

Jianguo Li^*
, Hutao Cui

^*Corresponding author for this work

School of Astronautics

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

A vision-aided inertial navigation algorithm is proposed within an EKF framework for spacecraft precision entry, descent and landing on Mars. By combing vision information with inertial measurement, it can not only avoid error accumulation of the IMU dead reckoning, but also obtain accurate and robust sate estimation in a real-time and high rate fashion. A special procedure based on state augmentation is developed to account for the delays of image processing. The problem associated with the sparse measurement information during the descent terminal phase is addressed as well by processing the previously unknown features. Simulation results demonstrate that the proposed integrated navigation system can provide high-precision motion information required by the upcoming planetary exploration missions.

Original language	English
Title of host publication	Proceedings of the 2nd International Conference on Intelligent Control and Information Processing, ICICIP 2011
Pages	14-18
Number of pages	5
Edition	PART 1
DOIs	https://doi.org/10.1109/ICICIP.2011.6008189
State	Published - 2011
Event	2nd International Conference on Intelligent Control and Information Processing, ICICIP 2011 - Harbin, China Duration: 25 Jul 2011 → 28 Jul 2011

Publication series

Name	Proceedings of the 2nd International Conference on Intelligent Control and Information Processing, ICICIP 2011
Number	PART 1

Conference

Conference	2nd International Conference on Intelligent Control and Information Processing, ICICIP 2011
Country/Territory	China
City	Harbin
Period	25/07/11 → 28/07/11

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10.1109/ICICIP.2011.6008189

Cite this

Li, J., & Cui, H. (2011). Vision-aided inertial navigation for pin-point landing on Mars. In Proceedings of the 2nd International Conference on Intelligent Control and Information Processing, ICICIP 2011 (PART 1 ed., pp. 14-18). Article 6008189 (Proceedings of the 2nd International Conference on Intelligent Control and Information Processing, ICICIP 2011; No. PART 1). https://doi.org/10.1109/ICICIP.2011.6008189

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title = "Vision-aided inertial navigation for pin-point landing on Mars",

abstract = "A vision-aided inertial navigation algorithm is proposed within an EKF framework for spacecraft precision entry, descent and landing on Mars. By combing vision information with inertial measurement, it can not only avoid error accumulation of the IMU dead reckoning, but also obtain accurate and robust sate estimation in a real-time and high rate fashion. A special procedure based on state augmentation is developed to account for the delays of image processing. The problem associated with the sparse measurement information during the descent terminal phase is addressed as well by processing the previously unknown features. Simulation results demonstrate that the proposed integrated navigation system can provide high-precision motion information required by the upcoming planetary exploration missions.",

author = "Jianguo Li and Hutao Cui",

year = "2011",

doi = "10.1109/ICICIP.2011.6008189",

language = "英语",

isbn = "9781457708145",

series = "Proceedings of the 2nd International Conference on Intelligent Control and Information Processing, ICICIP 2011",

number = "PART 1",

pages = "14--18",

booktitle = "Proceedings of the 2nd International Conference on Intelligent Control and Information Processing, ICICIP 2011",

edition = "PART 1",

note = "2nd International Conference on Intelligent Control and Information Processing, ICICIP 2011 ; Conference date: 25-07-2011 Through 28-07-2011",

}

Li, J & Cui, H 2011, Vision-aided inertial navigation for pin-point landing on Mars. in Proceedings of the 2nd International Conference on Intelligent Control and Information Processing, ICICIP 2011. PART 1 edn, 6008189, Proceedings of the 2nd International Conference on Intelligent Control and Information Processing, ICICIP 2011, no. PART 1, pp. 14-18, 2nd International Conference on Intelligent Control and Information Processing, ICICIP 2011, Harbin, China, 25/07/11. https://doi.org/10.1109/ICICIP.2011.6008189

Vision-aided inertial navigation for pin-point landing on Mars. / Li, Jianguo; Cui, Hutao.
Proceedings of the 2nd International Conference on Intelligent Control and Information Processing, ICICIP 2011. PART 1. ed. 2011. p. 14-18 6008189 (Proceedings of the 2nd International Conference on Intelligent Control and Information Processing, ICICIP 2011; No. PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - A vision-aided inertial navigation algorithm is proposed within an EKF framework for spacecraft precision entry, descent and landing on Mars. By combing vision information with inertial measurement, it can not only avoid error accumulation of the IMU dead reckoning, but also obtain accurate and robust sate estimation in a real-time and high rate fashion. A special procedure based on state augmentation is developed to account for the delays of image processing. The problem associated with the sparse measurement information during the descent terminal phase is addressed as well by processing the previously unknown features. Simulation results demonstrate that the proposed integrated navigation system can provide high-precision motion information required by the upcoming planetary exploration missions.

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Li J, Cui H. Vision-aided inertial navigation for pin-point landing on Mars. In Proceedings of the 2nd International Conference on Intelligent Control and Information Processing, ICICIP 2011. PART 1 ed. 2011. p. 14-18. 6008189. (Proceedings of the 2nd International Conference on Intelligent Control and Information Processing, ICICIP 2011; PART 1). doi: 10.1109/ICICIP.2011.6008189

Vision-aided inertial navigation for pin-point landing on Mars

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