陨坑视觉导航的位姿估计误差建模OA

High-precision positioning is required for lunar polar landing,and crater-based visual navigation can be used to estimate the lander pose.However,this approach is limited by an insufficiently character-ized mechanism for pose estimation error propagation and by the lack of practical engineering parameters.To address these issues,pose error modeling for crater visual navigation is investigated.A pose error mod-el based on weighted least squares is proposed to quantify pose errors under the combined effects of multi-ple factors.First,traceability analysis and baseline modeling of pose errors are performed according to the pose estimation principle of crater visual navigation.Second,a pose error model is formulated by minimiz-ing the reprojection error.Finally,weighted least squares is applied to obtain quantitative pose error esti-mates.Using DEM and DOM data from the lunar polar region,crater visual navigation for a lunar lander is simulated,and Monte Carlo-based experiments are conducted to evaluate the effects of different error sources and feature parameters on pose accuracy.When the pixel detection error is 5 pixels and 15 craters are used,the estimated translation error is below 95 m.The developed model enables quantitative pose er-ror estimation under multiple contributing factors,and the proposed engineering parameter scheme satis-fies the 100 m-level navigation accuracy requirement for lunar polar landing.This work provides a theoreti-cal basis for the design of crater-based navigation schemes.