基于降落图像的安全着陆点选择技术研究

摘要

The key of safe landing is autonomous hazard avoidance and autonomous landing site selection by during landing process of a lander in deep space exploration. This paper mainly carries out an investigation to avoid hazard and select landing sites with the help of landing imaging. Firstly,it calculates the resolution by using the height of lander above the surface and the focus and peels of landing camera;secondly, maximum 2D entropy shareholding is employed for detection of rock shadow;thirdly, the data of the hazard rock is picked up; and at last, the landing sites are selected with the site-selected methods. The simulation of rocks demonstrates that these methods can provide the safety information on the landing sites exactly and fleetly.%深空探测中,着陆器降落过程中自主避障和自主着陆点选择是安全着陆的关键。文章主要研究了基于降落图像的星体表面障碍物识别和着陆点选择技术。首先利用着陆器高度信息和降落相机参数计算每幅降落图像的分辨率;其次对每一幅图像障碍物进行阴影检测;再次,提取障碍信息;最后选出备选的安全着陆点。文章对石头障碍进行了仿真,结果表明：这种方法能够准确、快速地为着陆器提供着陆区的安全信息,并能够为着陆器提供出备选的安全着陆点。