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Improved UKF and SIFT Based on Information Fusion Method in Autonomous Optical Navigation

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4 Author(s)
Sui Shulin ; Qingdao Univ. of Sci. & Technol., Qingdao ; Sun Lihong ; Yao Wenlong ; Yuan Jian

The shape of planetoid is irregular, and its quality is non-uniform. Moreover, environment of explorers circling round small celestial bodies changes very quickly. In order to improve the orbit precision, an autonomous optical navigation scheme based on unscented Kalman filter and scale invariant feather transform is proposed to determine the circle orbit state in time, in which star sensor and navigation camera are used to measure special angles between planetoids and explorer, and it can promote parameter mean and predictive precision, which adopts both the UKF for uncertain modeling and the SIFT for scaling and rotating, so it can solve the difficulty of autonomous orbit determination under complicated environment.

Published in:

Control Conference, 2007. CCC 2007. Chinese

Date of Conference:

July 26 2007-June 31 2007