Title :
Landmark Based Position Estimation for Pinpoint Landing on Mars
Author :
Cheng, Yang ; Ansar, Adnan
Author_Institution :
Mobility Systems Concept Development Section Jet Propulsion Laboratory, California Institute of Technology 4800 Oak Grove Drive, Pasadena, CA 91109-8099, USA; ycheng@telerobotics.jpl.nasa.gov
Abstract :
Many of NASA´s planned missions for the coming decade will require a pinpoint landing (PPL) capability, whether for sample acquisition and return or for precise insertion into hazardous but scientifically interesting terrain. Thus, a robust spacecraft-based position estimation system is a critical near term need. We present in this paper a vision-based system, which provides a low power, low cost, high accuracy solution with flight proven hardware. The key components of our image based localization approach are: (1) real-time detection of landmarks in descent imagery, (2) real-time matching of detected landmarks to a stored database, and (3) robust estimation of spacecraft state (position, attitude and velocity) from matched 2D-3D data. We present an analysis of the performance and noise sensitivity of our system and show that the suggested technology is able to deliver a spacecraft to within 100 meters of a pre-selected landing site in a typical Mars landing scenario.
Keywords :
Pinpoint landing; landmark detection; landmark matching; position estimation; Hazards; Laboratories; Mars; Motion estimation; NASA; Navigation; Propulsion; Robustness; Space technology; Space vehicles; Pinpoint landing; landmark detection; landmark matching; position estimation;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570808