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

References

[1] 李嘉兴，王大轶，董天舒，等. 基于深度估计误差的自主光学导航陆标优选方法[J]. 深空探测学报（中英文），2023，10（2）：133-139.
LI J X，WANG D Y，DONG T S，et al. Optimization method for autonomous optical navigation landmarks based on depth estimation error[J]. Journal of Deep Space Exploration，2023，10（2）：133-139.
[2] 徐超，王大轶，黄翔宇. 基于陆标图像的火星精确着陆自主导航方法研究[J]. 深空探测学报（中英文），2016，3（2）：150-155.
XU C，WANG D Y，HUANG X Y. Autonomous navigation for mars pin-point landing based on landmark image[J]. Journal of Deep Space Exploration，2016，3（2）：150-155.
[3] CHENG Y，MILLER J K. Autonomous landmark based spacecraft navigation system[J]. Advances in the Astronautical Sciences，2003，114（3）：1769-1783.
[4] OWEN W，DUXBURY T，ACTON C H，et al. A brief history of optical navigation at JPL[C]//Proceedings of 31st Annual AAS Guidance and Control Conference. Breckenridge：AIAA，2008.
[5] CHENG A F，SANTO A G，HEERES K J，et al. Near-Earth asteroid rendezvous：mission overview[J]. Journal of Geophysical Research：Planets，1997，102（E10）：23695-23708.
[6] CHAMPETIER C，SERRANO J，DELAFONTAINE. Autonomous and advanced GNC techniques for the interplanetary Rosetta mission[C]//Proceedings of 1st International Conference on Spacecraft Guidance，Navigation and Control Systems. Noordwijk，the Netherland：[S. l.]，1991.
[7] ZHU S Y，XIU Y，ZHANG N，et al. Crater-based attitude and position estimation for planetary exploration with weighted measurement uncertainty[J]. Acta Astronautica，2020，176：216-32.
[8] CHEN K，WU J，LI Z，et al. A robust visual loop-closure detection method of VSLAM for ambiguous environment[C]//Proceedings of the 3rd International Conference on Control and Computer Vision. Macau：ICCCV，2020.
[9] YUE H，YU Y，WU X，et al. Keyframe extraction and loop closure detection considering robot motion[C]//Proceedings of 2018 13th IEEE Conference on Industrial Electronics and Applications （ICIEA）. Wuhan，China：IEEE，2018.
[10] PIAO J C，KIM S D. Real-time visual–inertial SLAM based on adaptive keyframe selection for mobile AR applications[J]. IEEE Transactions on Multimedia，2019，21（11）：2827-2836.
[11] QUAN M，PIAO S，HE Y，et al. Monocular visual SLAM with points and lines for ground robots in particular scenes：parameterization for lines on ground[J]. Journal of Intelligent & Robotic Systems，2021，101：1-19.
[12] KNOBLAUCH D，HESS-FLORES M，DUCHAINEAU M A，et al. Non-parametric sequential frame decimation for scene reconstruction in low-memory streaming environments[C]//Proceedings of Advances in Visual Computing：7th International Symposium，ISVC 2011. Las Vegas：Springer，2011.
[13] GAN T S Y，DRUMMOND T W. Vision-based augmented reality visual guidance with keyframes[C]//Proceedings of Computer Graphics International Conference. Berlin，Heidelberg：Springer ，2006.
[14] LIM H，LIM J，KIM H J. Online 3D reconstruction and 6-DoF pose estimation for RGB-D sensors[C]//Proceedings of Computer Vision-ECCV 2014 Workshops. Zurich，Switzerland：Springer，2015.
[15] DAS A，WASLANDER S L. Entropy based keyframe selection for multi-camera visual SLAM[C]//Proceedings of 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems （IROS）. Hamburg，Germany：IEEE，2015.
[16] SCHMUCK P，CHLI M. On the redundancy detection in keyframe-based SLAM[C]//Proceedings of 2019 International Conference on 3D Vision（3DV）. Quebec City，QC，Canada：IEEE，2019.
[17] PUSEY J，FATTAH A，AGRAWAL S，et al. Design and workspace analysis of a 6-6 cable-suspended parallel robot[J]. Mechanism and machine theory，2004，39（7）：761-778.
[18] NASR A，MOOSAVIAN S A A. Multi-criteria design of 6-dof fully-constrained cable driven redundant parallel manipulator[C]//Proceedings of 2015 3rd RSI International Conference on Robotics and Mechatronics （ICROM）. Tehran, Iran：IEEE，2015.
[19] SCHENK C，YÜKSEL B，SECCHI C，et al. Port Hamiltonian modeling of a cable driven robot[J]. IFAC-PapersOnLine，2018，51（3）：161-168.
[20] SEON J A，PARK S，KO S Y，et al. Cable configuration analysis to increase the rotational range of suspended 6-DOF cable driven parallel robots[C]//Proceedings of 2016 16th International Conference on Control，Automation and Systems （ICCAS）. Gyeongju，Korea：IEEE，2016.
[21] CHELLAL R，LAROCHE E，CUVILLON L. An H_∞methodology for position control of 6-DoF cable-driven parallel robots[C]//Proceedings of 2014 European Control Conference（ECC）. Strasbourg，France：IEEE，2014.
[22] JIA H，ZHU S Y，CUI P Y. Observability-based navigation using optical and radiometric measurements for asteroid proximity[J]. IEEE Transactions on Aerospace and Electronic Systems，2019，56（4）：2677-2688.
[23] 王大轶，李茂登，黄翔宇，等. 航天器多源信息融合自主导航技术[M]. 北京：北京理工大学出版社，2018.
WANG D Y，LI M D，HUANG X Y，et al. Spacecraft multi-source information fusion autonomous navigation technology[M]. Beijing：Beijing Institute of Technology Press，2018.