针对现有巡视器导航定位方法依赖初值及算法较为复杂的问题,结合降落影像和导航影像,提出一种基于DLT的巡视器快速定位方法:首先采用ASIFT方法与人工辅助2种手段提取影像中至少6对以上的匹配控制点,然后计算降落影像中控制点在着陆器本体坐标系下的平面坐标,并从已有着陆区高分辨率DEM中获取其高程,结合该点在导航影像中的像点坐标代入DLT方程,通过迭代计算完成相机位置的计算,最终通过转换得到巡视器位置,完成巡视器定位过程.实验结果表明提出的方法是可行和有效的:连接点分布较好的情况下,该方法具有较高的定位精度;成像光照条件变化较大且纹理信息匮乏时,定位结果的精度降低.%Aiming at the problems that the existing navigation and positioning methods are dependent on the initial value and with more complex computation, the paper proposed a fast localization of the rover with descent image and navigation image based on direct linear transformation method: the ASIFT method was used to extract the matching points more than 6 from the two images;their landing plane coordinates under the lander body coordinate system were calculated;then the elevation was got from the existing high resolution DEM of landing area, combined with the image point coordinates in the navigation image, it was generated into the DLT equation;the camera position was obtained by iterative computation;the position of the rover was given through the conversion, and the positioning process was completed finally.Experimental result showed the feasibility of the proposed method by: the method would be with high positioning accuracy when the matching points were distributed well, while the accuracy would be reduced when the illuminating condition changed greatly and the texture information was scarce.
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