航空宇宙技術
Online ISSN : 1884-0477
ISSN-L : 1884-0477
SLIM特集
相似な三角形に基づくクレータマッチングによるSLIM探査機の自己位置推定とその精度向上
石井 晴之村田 暁紀上野 史辰巳 嵩豊梅内 祐太高玉 圭樹原田 智広鎌田 弘之石田 貴行福田 盛介澤井 秀次郎坂井 真一郎
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2018 年 17 巻 p. 69-78

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This paper focuses on the Evolutional Triangle Similarity Matching (ETSM) method for estimating spacecraft location in Smart Lander for Investigating Moon (SLIM) mission and improves it by adding the functions of elimination of line symmetric triangles between crater map and camera shot image, comparison of rotation relationship of triangles and triangle formation method using Delaunay triangulation and introducing point group matching as a coordinate calculation function. To evaluate the robustness of the improved method, we conduct simulation experiments using the crater map and camera shot images in six situations. This experiments have revealed the following implications: (1) this method improved accuracy of location estimation within 5.1 pixels by the functions of elimination of line symmetric triangles between crater map and camera shot image, (2) this method slight got worse accuracy at low or high altitude of spacecraft, however, this method successfully reduced incorrect spacecraft location estimation by comparison of rotation relationship of triangles, (3) this method improved accuracy of location estimation by triangle formation method using Delaunay triangulation, but possibility of incorrect spacecraft location estimation is slight increased, and (4) integration method of these three mechanism can estimate spacecraft location within 5 pixels without being affected altitude difference and rotation of camera shot image.

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© 2018 The Japan Society for Aeronautical and Space Sciences
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