Mitigation of Vision Measurement Nonlinearity Effect on Lunar Descent Navigation Using Underweighting

摘要

In this Note, EKF underweighting using vision DOP for lunar descent navigation was proposed. The underweighting coefficient is defined as the percentage decrease of the state estimation error covariance. The a posteriori state estimation error covariance required to calculate the underweighting coefficient was derived from the expected pose estimation error of vision-based navigation using vision DOR The underweighting condition of whether to apply underweighting can be automatically determined by the proposed method from the fact that the accuracy of the integrated inertial/vision navigation system is better than that of vision-only navigation as the filter converges correctly.