Optimal crater landmark selection based on optical navigation performance factors for planetary landing

Planetary craters are natural navigation landmarks that widely exist and are easily observed. Optical navigation based on crater landmarks has become an important autonomous navigation method for planetary landing. Due to the increase in observed crater landmarks and the limitation of onboard computation, the selection of good crater landmarks has gradually become a research hotspot in the field of landmark-based optical navigation. This paper designs a fast crater landmark selection method, which not only considers the configuration observability of crater subsets but also focuses on the influence on navigation performance arising from the measurement uncertainty and the matching confidence of craters, which is different from other landmark selection methods. The factor of measurement uncertainty, which is anisotropic, correlated and nonidentically distributed, is quantified and integrated into selection based on crater pairing detection and localization error evaluation. In addition, the concept of the crater matching confidence factor is introduced, which reflects the possibility of 2D projection measurements corresponding to 3D positions. Combined with the configuration observability factor, the crater landmark selection indicator is formed. Finally, the effectiveness of the proposed method is verified by Monte Carlo simulations.     

顾及不确定性分析的多数投票 SAR 影像变化检测

合成孔径雷达（Synthetic Aperture Radar，SAR）影像变化检测是遥感领域的一个重要研究方向。文章以投票法（Majority Voting，MV）为基础，提出一种全新的顾及不确定性分析的SAR影像变化检测方法（Uncertainty Analysis-based MV，UAMV）。首先选取三组典型的差分影像生成算法，生成三组互补的差分影像。然后使用模糊C均值聚类估算每组差分影像的关于变化类和未变化类的模糊隶属度函数。最后用模糊集合和信息熵理论优化MV，构建顾及不确定性分析的多数投票法，并用所构建方法融合三组差分影像的模糊隶属度函数，生成变化检测图。为验证文章方法的有效性，通过三组真实SAR影像数据进行实验分析。实验结果表明：1）通过用信息熵分析MV融合过程中的不确定性，能够显著提高MV的变化检测性能；2）与7种现有相关算法相比，UAMV方法能够取得更优的变化检测结果。该研究为SAR影像变化检测提供一种新的思路和方法。     

Adaptive sliding mode control of spacecraft attitude-orbit dynamics on SE(3)

In this paper, to solve the problem of parameters uncertainty in spacecraft tracking control, an adaptive controller based on sliding mode is proposed for the relative spacecraft attitude-orbit dynamics on the Lie group SE(3). The dynamic equations of relative attitude orbit error for two spacecraft are established in the framework of Lie group SE(3). Considering the uncertainty of spacecraft parameters, a formal decomposition of known and unknown parameters, the state variables and control variables is firstly made in the original system. An online estimator is designed to evaluate the unknown parameters. A sliding mode controller is developed to actuate the spacecraft to track the target spacecraft. Then a Lyapunov function of tracking error and parameters estimated error is designed to prove the stability of the closed-loop system. Finally, the simulation results and analysis are presented to verify the effectiveness and feasibility of the proposed method.