CN113753265A - Extraterrestrial star fixed-point landing method under low-illumination environment - Google Patents
Extraterrestrial star fixed-point landing method under low-illumination environment Download PDFInfo
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Abstract
The invention relates to an extraterrestrial star fixed-point landing method under a low-illumination environment, belonging to the field of extraterrestrial star landing navigation; firstly, a orbiter performs orbit flying on an extraterrestrial star to obtain a three-dimensional map of the extraterrestrial star surface; step two, launching the aircraft; thirdly, inquiring ephemeris to obtain a local sunlight angle; step four, obtaining a shadow distribution binary image of the earth surface of the extraterrestrial star body according to the local sunlight angle and the three-dimensional map; step five, obtaining a real-time shot image binary image; step six, correlating the real-time shooting image binary image with the shadow distribution binary image, and determining the best matching position of the real-time shooting image binary image; step seven, correcting the flight speed and direction of the aircraft and flying to a landing place; step eight, repeating the step three to the step seven until the aircraft is in soft landing at a landing place preset by the extraterrestrial star; the invention uses the satellite-borne sensor to carry out real-time imaging and uses the preset map to carry out binary image rendering, thereby being capable of rapidly and robustly obtaining the position of the aircraft.
Description
Technical Field
The invention belongs to the field of landing navigation of extraterrestrial stars, and relates to an extraterrestrial star fixed-point landing method in a low-illumination environment.
Background
In the extraterrestrial star body detection process, the requirement of fixed point soft landing is more and more clear, and a common mode when an optical camera is used for visual navigation can provide data support for Mars/moon to perform orbit positioning, attitude solution and detection area positioning. In an actual task, mapping a celestial body to be detected, constructing a three-dimensional map of the earth surface, and then selecting an area with scientific value to land at a fixed point, wherein an optical camera is adopted for navigation, the influence of illumination conditions is great, the imaging effect difference of different illumination angles is great, and particularly when the inclination angle of low-illumination sunlight is great, the occupation ratio of the terrain surface covered by a shadow is high, so that the robustness and the precision of navigation are greatly influenced.
CN201611250994.8 discloses a small celestial body landing guidance control method, in particular to a small celestial body fixed point landing guidance control method based on optical flow information. According to the method, the sight line information of the landing area is obtained by using the satellite-borne navigation camera, the control rate is corrected, and the problem of low illumination cannot be effectively solved.
The paper "research on precise moon landing navigation method based on meteorite crater matching" (the academic thesis of Harbin university of Industrial science, 2010) introduces a navigation method using meteorite craters, and researches a relative navigation method based on optical measurement. The meteorite crater matching method adopted in the text can still not obtain clear imaging and extraction under the condition of low illumination, and is inconsistent with the core problem to be solved in the text.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides the fixed-point landing method of the extraterrestrial celestial body in the low-illumination environment, uses the satellite-borne sensor to carry out real-time imaging, uses the preset map to carry out binary map rendering, and can rapidly and robustly obtain the position of the aircraft.
The technical scheme of the invention is as follows:
a fixed-point landing method for extraterrestrial stars in a low-illumination environment comprises the following steps:
firstly, a orbiter orbits and flies extraterrestrial stars, images the surfaces of the extraterrestrial stars and obtains a three-dimensional map of the surfaces of the extraterrestrial stars according to the imaging;
step two, launching the aircraft;
thirdly, after the aircraft flies to the position of the extraterrestrial star ground, inquiring ephemeris according to the current time to obtain a local sunlight angle;
step four, obtaining a shadow distribution binary image of the earth surface of the extraterrestrial star body according to the local sunlight angle and the three-dimensional map;
fifthly, a sensor is installed on the aircraft, and the sensor acquires real-time images of the earth surface position of the extraterrestrial star body to obtain a real-time shot image binary image;
step six, correlating the real-time shooting image binary image with the shadow distribution binary image, and determining the best matching position of the real-time shooting image binary image;
step seven, presetting a landing place, wherein the optimal matching position is the position of the current aircraft on the three-dimensional map, correcting the flight speed and direction of the aircraft, and flying to the landing place;
and step eight, repeating the step three to the step seven until the aircraft is in soft landing at a landing place preset by the extraterrestrial star.
In the method for landing the extraterrestrial star at the fixed point under the low-illumination environment, in the first step, the time of the orbital flight is longer than 1 autorotation period of the extraterrestrial star, and the number of the circles of the orbital flight is not less than 4.
In the method for landing the extraterrestrial star at the fixed point under the low-illumination environment, before launching the aircraft, the orbiter sends the three-dimensional map to the ground station, and the ground station loads the three-dimensional map on the aircraft.
In the method for landing the extraterrestrial celestial body at a fixed point under the low illumination environment, in the fourth step, a specific method for obtaining a shadow distribution binary map of the extraterrestrial body surface comprises the following steps:
and obtaining the high land position of the earth surface of the extraterrestrial star according to the three-dimensional map, and obtaining a shadow distribution binary image of the extraterrestrial star earth surface after the sunlight shielding according to the local sunlight angle.
In the above method for landing an extraterrestrial star at a fixed point in a low illumination environment, in the sixth step, the method for determining the best matching position of the real-time captured image binary image is as follows:
and dividing the shadow distribution binary image into grids, wherein the size of each grid corresponds to the size of the real-time shooting image binary image, and the real-time shooting image binary image is sequentially correlated with each grid, and the grid with the maximum correlation coefficient is the best matching position.
Compared with the prior art, the invention has the beneficial effects that:
(1) the existing method mainly aims at solving the problems that the extraterrestrial celestial bodies are safely landed and unfolded, obstacles are avoided by using optical equipment such as a camera and the like, and the position of the extraterrestrial bodies cannot be determined, so that the measurement method can realize high-precision navigation in a fixed-point soft landing task;
(2) the invention adopts a method of presetting optical image rendering, predicts the imaging effect under different illumination angles in real time, and can effectively solve the problem that the characteristics are unstable and the correct navigation is difficult under the low solar altitude;
(3) according to the invention, a preset map is used for rendering a binary image, and then the binary image is correlated and matched with a binary image of a real-time imaging result, so that the problem of large and unstable image surface characteristic change is avoided; meanwhile, the whole image binarization rendering can be directly accelerated by hardware, and is suitable for engineering application.
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FIG. 1 is a flow chart of landing site placement in accordance with the present invention.
Detailed Description
The invention is further illustrated by the following examples.
The invention provides an extraterrestrial star fixed-point landing method in a low-illumination environment, which adopts a method of rendering terrain shadow distribution in real time for real-time processing, adopts a method of fast correlation matching of binary images, can quickly obtain a high-precision navigation result in real time, solves the problem of large shadow distribution area and large navigation difficulty in the low-illumination environment, and solves the practical engineering problem.
The extraterrestrial star fixed-point landing method, as shown in fig. 1, specifically includes the following steps:
firstly, a orbiter orbits and flies extraterrestrial stars, images the surfaces of the extraterrestrial stars and obtains a three-dimensional map of the surfaces of the extraterrestrial stars according to the imaging; the orbit device has the orbit flying time more than 1 extraterrestrial star rotation period and the number of orbit flying turns not less than 4.
Step two, launching the aircraft; before launching the aircraft, the orbiter sends the three-dimensional map to the ground station, and the ground station loads the three-dimensional map on the aircraft.
And step three, after the aircraft flies to the position of the extraterrestrial star ground, inquiring ephemeris according to the current time to obtain the local sunlight angle.
Step four, obtaining a shadow distribution binary image of the earth surface of the extraterrestrial star body according to the local sunlight angle and the three-dimensional map; the specific method for obtaining the shadow distribution binary image of the extraterrestrial star earth surface comprises the following steps: and obtaining the high land position of the earth surface of the extraterrestrial star according to the three-dimensional map, and obtaining a shadow distribution binary image of the extraterrestrial star earth surface after the sunlight shielding according to the local sunlight angle.
And fifthly, mounting a sensor on the aircraft, and acquiring real-time images of the earth surface position of the extraterrestrial star by the sensor to obtain a real-time shot image binary image.
Step six, correlating the real-time shooting image binary image with the shadow distribution binary image, and determining the best matching position of the real-time shooting image binary image; the method for determining the best matching position of the real-time shooting image binary image comprises the following steps:
and dividing the shadow distribution binary image into grids, wherein the size of each grid corresponds to the size of the real-time shooting image binary image, and the real-time shooting image binary image is sequentially correlated with each grid, and the grid with the maximum correlation coefficient is the best matching position.
And step seven, presetting a landing place, wherein the optimal matching position is the position of the current aircraft on the three-dimensional map, and correcting the flight speed and direction of the aircraft to fly to the landing place.
And step eight, repeating the step three to the step seven until the aircraft is in soft landing at a landing place preset by the extraterrestrial star.
The existing method mainly aims at solving the problems that the extraterrestrial celestial body safely lands and expands, the obstacle is avoided by using optical equipment such as a camera and the like, and the position of the obstacle cannot be determined, so that the measurement method can realize high-precision navigation in a fixed-point soft landing task;
aiming at the problems that the image surface of an optical camera is covered by a large number of shadows under the condition of low illumination, the characteristics are difficult to effectively obtain, the shadow distribution change is large under different illumination angles, and a high-precision navigation result is difficult to obtain by a traditional optical navigation method, the invention adopts a method for pre-setting optical image rendering, predicts the imaging effect under different illumination angles in real time, and can effectively solve the problem that the characteristics are unstable and the correct navigation is difficult under the low solar altitude.
According to the invention, a preset map is used for rendering a binary image, and then the binary image is correlated and matched with a binary image of a real-time imaging result, so that the problem of large and unstable image surface characteristic change is avoided; meanwhile, the whole image binarization rendering can be directly accelerated by hardware, and is suitable for engineering application.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (5)
1. A fixed-point landing method for extraterrestrial stars in a low-illumination environment is characterized by comprising the following steps: the method comprises the following steps:
firstly, a orbiter orbits and flies extraterrestrial stars, images the surfaces of the extraterrestrial stars and obtains a three-dimensional map of the surfaces of the extraterrestrial stars according to the imaging;
step two, launching the aircraft;
thirdly, after the aircraft flies to the position of the extraterrestrial star ground, inquiring ephemeris according to the current time to obtain a local sunlight angle;
step four, obtaining a shadow distribution binary image of the earth surface of the extraterrestrial star body according to the local sunlight angle and the three-dimensional map;
fifthly, a sensor is installed on the aircraft, and the sensor acquires real-time images of the earth surface position of the extraterrestrial star body to obtain a real-time shot image binary image;
step six, correlating the real-time shooting image binary image with the shadow distribution binary image, and determining the best matching position of the real-time shooting image binary image;
step seven, presetting a landing place, wherein the optimal matching position is the position of the current aircraft on the three-dimensional map, correcting the flight speed and direction of the aircraft, and flying to the landing place;
and step eight, repeating the step three to the step seven until the aircraft is in soft landing at a landing place preset by the extraterrestrial star.
2. The method according to claim 1, wherein the method comprises: in the first step, the orbit device winds the flying time for more than 1 extraterrestrial star rotation period, and the number of winding flying turns is not less than 4.
3. The method according to claim 2, wherein the method comprises: and in the third step, before launching the aircraft, the orbiter sends the three-dimensional map to the ground station, and the ground station loads the three-dimensional map on the aircraft.
4. The method according to claim 3, wherein the method comprises: in the fourth step, the specific method for obtaining the shadow distribution binary image of the extraterrestrial star earth surface comprises the following steps:
and obtaining the high land position of the earth surface of the extraterrestrial star according to the three-dimensional map, and obtaining a shadow distribution binary image of the extraterrestrial star earth surface after the sunlight shielding according to the local sunlight angle.
5. The method according to claim 4, wherein the method comprises: in the sixth step, the method for determining the best matching position of the real-time shot image binary image comprises the following steps:
and dividing the shadow distribution binary image into grids, wherein the size of each grid corresponds to the size of the real-time shooting image binary image, and the real-time shooting image binary image is sequentially correlated with each grid, and the grid with the maximum correlation coefficient is the best matching position.
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