CN113753265B - Extraterrestrial star fixed-point landing method in low-illumination environment - Google Patents
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Abstract
The invention relates to an extraterrestrial star fixed-point landing method in a low-illumination environment, belonging to the field of landing navigation of extraterrestrial star; firstly, carrying out orbital orbit flying on an extraterrestrial star body by an orbit device to obtain a three-dimensional map of the surface of the extraterrestrial star body; step two, launching the aircraft; inquiring the ephemeris to obtain a local sunlight angle; step four, obtaining a shadow distribution binary image of the earth surface of the extraterrestrial star according to the local sunlight angle and the three-dimensional map; step five, obtaining a binary image of the real-time shooting image; step six, correlating the real-time photographed image binary image with the shadow distribution binary image, and determining the best matching position of the real-time photographed 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 lands softly at a landing place preset by the extraterrestrial star; the invention uses the spaceborne sensor to carry out real-time imaging and uses the preset map to carry out binary image rendering, thereby being capable of quickly and robustly obtaining the position of the aircraft.
Description
Technical Field
The invention belongs to the field of landing navigation of extraterrestrial satellites, and relates to an extraterrestrial satellite fixed-point landing method in a low-illumination environment.
Background
In the extraterrestrial star detection process, the fixed-point soft landing requirement is more and more clear, and a common mode is adopted when an optical camera is used for visual navigation, so that data support can be provided for orbital positioning, gesture solving and detection area positioning of Mars/moon. In an actual task, a celestial body to be detected is generally mapped, a region with scientific value is selected for fixed-point landing after a three-dimensional map of the earth surface is constructed, the influence of illumination conditions is great when an optical camera is adopted for navigation, the imaging effect difference of different illumination angles is great, and particularly when the inclination angle of low-illumination sunlight is great, the coverage of the surface of the terrain by shadow is high, so that the robustness and the accuracy 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. The method utilizes the satellite-borne navigation camera to obtain the sight line information of the landing zone, corrects the control rate, and cannot effectively solve the problem of low illumination.
The paper "lunar precise landing navigation method research based on merle pit matching" (university of Harbin industry university paper, 2010) describes a navigation method using merle pits, and a relative navigation method based on optical measurement is researched, and the method measures sight direction vectors of four or more landmarks with known positions through an optical camera, so that the position and posture information of a detector are determined. The meteorite crater matching method adopted in the text still cannot be clearly imaged and extracted under the condition of low illumination, and is inconsistent with the core difficult problem to be solved in the text.
Disclosure of Invention
The invention solves the technical problems that: the method has the advantages that the defects of the prior art are overcome, the method for landing the extraterrestrial star at fixed points in a low-illumination environment is provided, real-time imaging is carried out by using a satellite-borne sensor, binary image rendering is carried out by using a preset map, and the position of an aircraft can be obtained quickly and robustly.
The solution of the invention is as follows:
an extraterrestrial star fixed-point landing method under a low-illumination environment comprises the following steps:
the method comprises the steps that firstly, a orbiter orbits an extraterrestrial star body, images the surface of the extraterrestrial star body, and a three-dimensional map of the surface of the extraterrestrial star body is obtained according to the imaging;
step two, launching the aircraft;
thirdly, after the aircraft flies to the position of the surface of the satellite outside the ground, inquiring the 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 according to the local sunlight angle and the three-dimensional map;
installing a sensor on the aircraft, and acquiring a real-time image of the surface position of the extraterrestrial star by the sensor to obtain a real-time photographed image binary image;
step six, correlating the real-time photographed image binary image with the shadow distribution binary image, and determining the best matching position of the real-time photographed 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 steps three to seven until the aircraft lands softly at a landing place preset by the extraterrestrial star.
In the above-mentioned method for landing an extraterrestrial star at fixed point under a low-illumination environment, in the first step, the orbit device winds over a flight time longer than 1 extraterrestrial star rotation period, and winds over a flight number not less than 4.
In the above-mentioned method for landing an extraterrestrial star at a fixed point in a low-illuminance environment, in the third step, before launching the aircraft, the orbiter transmits the three-dimensional map to a ground station, and the ground station loads the three-dimensional map on the aircraft.
In the above-mentioned method for landing an extraterrestrial star at a fixed point in a low-illuminance environment, in the fourth step, the specific method for obtaining a binary map of the shadow distribution of the surface of the extraterrestrial star comprises:
and obtaining the position of the ground surface of the extraterrestrial star according to the three-dimensional map, and obtaining a shadow distribution binary image of the ground surface of the extraterrestrial star after shielding sunlight according to the local sunlight angle.
In the above-mentioned method for landing an extraterrestrial star at a fixed point in a low-illuminance environment, in the sixth step, the method for determining the best matching position of the binary image of the real-time photographed image is as follows:
dividing the shadow distribution binary image into grids, wherein the size of each grid corresponds to that of the real-time shooting image binary image, the real-time shooting image binary image is sequentially related to each grid, and the grid with the largest correlation coefficient is the best matching position.
Compared with the prior art, the invention has the beneficial effects that:
(1) Most of the existing methods are used for solving the problem that the extraterrestrial star body is safely landed and unfolded, the obstacles are avoided by using optical equipment such as cameras and the like, the positions of the obstacles cannot be determined, and the measurement method can realize high-precision navigation in fixed-point soft landing tasks;
(2) The invention adopts a preset optical image rendering method to predict imaging effects under different illumination angles in real time, and can effectively solve the problems of unstable characteristics and difficult correct navigation under low solar altitude;
(3) The invention uses the preset map to render the binary image, and then carries out correlation matching with the binary image of the real-time imaging result, thereby avoiding the problem of larger and unstable image surface characteristic change; meanwhile, the whole-graph binarization rendering can directly adopt hardware acceleration, and is suitable for engineering application.
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FIG. 1 is a flow chart of the fixed point landing of the present invention.
Detailed Description
The invention is further illustrated below with reference to examples.
The invention provides an extraterrestrial star fixed-point landing method in a low-illumination environment, which adopts a method of rendering topographic shadow distribution in real time for real-time processing, adopts a method of fast correlation matching of a binary image, can rapidly obtain a high-precision navigation result in real time, solves the problem of large navigation difficulty due to large shadow distribution area in the low-illumination environment, and solves the engineering practical problem.
The method for landing the extraterrestrial star at fixed points, as shown in fig. 1, specifically comprises the following steps:
the method comprises the steps that firstly, a orbiter orbits an extraterrestrial star body, images the surface of the extraterrestrial star body, and a three-dimensional map of the surface of the extraterrestrial star body is obtained according to the imaging; the orbit device winds the time of flight and is greater than 1 extraterrestrial star body rotation cycle, wind the number of turns and be not less than 4.
Step two, launching the aircraft; before launching the aircraft, the orbiter transmits the three-dimensional map to a ground station, which loads the three-dimensional map on board the aircraft.
And thirdly, after the aircraft flies to the position of the surface of the satellite outside the ground, inquiring the 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 according to the local sunlight angle and the three-dimensional map; the specific method for obtaining the shadow distribution binary image of the earth surface of the extraterrestrial star comprises the following steps: and obtaining the position of the ground surface of the extraterrestrial star according to the three-dimensional map, and obtaining a shadow distribution binary image of the ground surface of the extraterrestrial star after shielding sunlight according to the local sunlight angle.
And fifthly, installing a sensor on the aircraft, and acquiring a real-time image of the surface position of the extraterrestrial star by the sensor to obtain a real-time photographed image binary image.
Step six, correlating the real-time photographed image binary image with the shadow distribution binary image, and determining the best matching position of the real-time photographed image binary image; the method for determining the best matching position of the binary image of the real-time shooting image comprises the following steps:
dividing the shadow distribution binary image into grids, wherein the size of each grid corresponds to that of the real-time shooting image binary image, the real-time shooting image binary image is sequentially related to each grid, and the grid with the largest 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, correcting the flight speed and direction of the aircraft, and flying to the landing place.
And step eight, repeating the steps three to seven until the aircraft lands softly at a landing place preset by the extraterrestrial star.
Most of the existing methods are used for solving the problem that the safety landing of an extraterrestrial celestial body is unfolded, the obstacles are avoided by using optical equipment such as a camera and the like, the self position cannot be determined, and 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 amount of shadows under the condition of low illumination, the characteristics are difficult to obtain effectively, the shadow distribution change is large under different illumination angles, and the traditional optical navigation method is difficult to obtain a high-precision navigation result, the invention adopts a preset optical image rendering method to predict the imaging effect under different illumination angles in real time, and can effectively solve the problems that the characteristics are unstable and the correct navigation is difficult under the condition of low solar altitude.
The invention uses the preset map to render the binary image, and then carries out correlation matching with the binary image of the real-time imaging result, thereby avoiding the problem of larger and unstable image surface characteristic change; meanwhile, the whole-graph binarization rendering can directly adopt hardware acceleration, and is suitable for engineering application.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (5)
1. An extraterrestrial star fixed-point landing method in a low-illumination environment is characterized in that: the method comprises the following steps:
the method comprises the steps that firstly, a orbiter orbits an extraterrestrial star body, images the surface of the extraterrestrial star body, and a three-dimensional map of the surface of the extraterrestrial star body is obtained according to the imaging;
step two, launching the aircraft;
thirdly, after the aircraft flies to the position of the surface of the satellite outside the ground, inquiring the 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 according to the local sunlight angle and the three-dimensional map;
installing a sensor on the aircraft, and acquiring a real-time image of the surface position of the extraterrestrial star by the sensor to obtain a real-time photographed image binary image;
step six, correlating the real-time photographed image binary image with the shadow distribution binary image, and determining the best matching position of the real-time photographed 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 steps three to seven until the aircraft lands softly at a landing place preset by the extraterrestrial star.
2. The method for landing an extraterrestrial star in a low-light environment according to claim 1, wherein the method comprises the following steps: in the first step, the orbit device winds over the flying time which is more than 1 extraterrestrial satellite body rotation period, and the winding number of turns is not less than 4.
3. The method for landing an extraterrestrial star in a low-light environment according to claim 2, wherein the method comprises the steps of: in the second step, before launching the aircraft, the orbiter sends the three-dimensional map to a ground station, and the ground station loads the three-dimensional map on the aircraft.
4. The method for landing an extraterrestrial star in a low-light environment according to claim 3, wherein: in the fourth step, the specific method for obtaining the shadow distribution binary image of the earth surface of the extraterrestrial star comprises the following steps:
and obtaining the position of the ground surface of the extraterrestrial star according to the three-dimensional map, and obtaining a shadow distribution binary image of the ground surface of the extraterrestrial star after shielding sunlight according to the local sunlight angle.
5. The method for fixed-point landing of an extraterrestrial star in a low-illumination environment according to claim 4, wherein the method comprises the following steps: in the sixth step, the method for determining the best matching position of the binary image of the real-time shot image comprises the following steps:
dividing the shadow distribution binary image into grids, wherein the size of each grid corresponds to that of the real-time shooting image binary image, the real-time shooting image binary image is sequentially related to each grid, and the grid with the largest correlation coefficient is the best matching position.
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