| 基于CCD着陆相机的行星软着陆岩石检测与规避方法 |
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| 引用本文： | 张泽旭,崔平远.基于CCD着陆相机的行星软着陆岩石检测与规避方法[J].航空学报,2008,29(6):1510-1516. |
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| 作者姓名： | 张泽旭 崔平远 |
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| 作者单位： | 哈尔滨工业大学深空探测着陆与返回控制技术国防重点学科实验室,黑龙江,哈尔滨,150001 |
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| 摘 要： | 提出了一种基于CCD相机的行星软着陆岩石检测与规避方法。首先，利用多分辨率分析方法对着陆区图像进行快速处理，根据着陆区的光照特性检测出着陆区的岩石，针对着陆过程的时间需求，多灰度阈值分割方法被采用；其次，基于无监督聚类算法对着陆区的岩石进行识别并标记，构建着陆区岩石分布的拓扑图；再次，利用激光测距仪得到的高度信息和着陆相机的参数，计算着陆区岩石拓扑图的实际危险区域面积，从而根据着陆器的需求安全范围和探测任务需要，利用安全着陆点的螺旋式搜索方法选择具有冗余度的安全着陆点；最后，建立着陆器安全规避策略，制导控制着陆器进行安全着陆，通过对安装侧向发动机和利用万向节调节推力方向的主发动机两种情况的仿真，实验结果令人满意。
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| 关 键 词： | 软着陆 多分辨率分析 目标检测与识别 危险规避 着陆点 |
An Algorithm of Rock Detection and Avoidance for Planetary Soft Landing Based on CCD Landing Camera |
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| Zhang Zexu,Cui Pingyuan.An Algorithm of Rock Detection and Avoidance for Planetary Soft Landing Based on CCD Landing Camera[J].Acta Aeronautica et Astronautica Sinica,2008,29(6):1510-1516. |
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| Authors: | Zhang Zexu Cui Pingyuan |
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| Institution: | Zhang Zexu,Cui Pingyuan (Key Laboratory of Fundamental Science for National Defense of L,ing , Returning Control Technique of Deep Space Exploration,Harbin Institute of Technology,Harbin 150001,China) |
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| Abstract: | An algorithm of rock detection and avoidance for soft planetary landing based on CCD landing camera is presented. Firstly,the image of the landing zone is fast processed using the multi-resolution analysis technique. The rocks of the landing zone are detected reliably on the basis of the lighting character of the zone. Segmentation by multi-gray level threshold is applied to meet the requirement of real-time during the landing course. Secondly,the rocks detected are recognized and labeled based on the unsup... |
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| Keywords: | soft landing multi-resolution analysis targets detection and recognition hazard avoidance landing site |
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