Relative Navigation Observation Sequence Planning for Small Body Attachment and Its Experiment

Abstract

In the process of small body attachment detection，due to the limitation of computational resources，it is difficult for the sequence image autonomous relative navigation system to process a large amount of optical image information. In this paper，a relative navigation observation sequence planning method is proposed，and an observable measurement index describing the observation accuracy of the landmark is established based on the Fisher information matrix，which is used as an index to design the observation strategy for the preferred selection of the key observation moments. In order to verify the validity of the relative navigation method，a small body attachment experiment platform is constructed，and the 6-degree-of-freedom attachment motion simulation of the lander is realized by pulling the load platform with 8 ropes in parallel. Finally，a visible light camera is mounted on the experimental platform to realize the semi-physical simulation of the relative navigation of small body attachment，which greatly reduces the computational burden of the navigation system while providing high-precision relative navigation. It will provide reference for the asteorid project in the future.

Keywords

small body attachment / relative navigation / sequential images / observation planning