APLNav: Development Status of an Onboard Passive Optical Terrain Relative Navigation System

McGee, T. G.; Rosendall, Paul E.; Hill, Adrian A.; Shyong, Wen Jong; Criss, Thomas B.; Reed, Cheryl; Chavers, Greg; Hannan, Mike; Epp, Chirold; Nishant, Mehta

doi:10.2514/6.2015-0853

Cited by 15 publications

(6 citation statements)

References 13 publications

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“…Precision landing within <25-m accuracy is well within current lander technology, such as with optical terrain relative navigation (e.g., Criss et al, 2010;McGee et al, 2015). Our slope map, derived from an LROC DEM, shows a~500 × 200-m zone around the summit with slopes under 10°amenable to such a landing.…”

Section: Journal Of Geophysical Research: Planetssupporting

confidence: 73%

Impact Melt Facies in the Moon's Crisium Basin: Identifying, Characterizing, and Future Radiogenic Dating

et al. 2020

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Both Earth and the Moon share a common history regarding the epoch of large basin formation, though only the lunar geologic record preserves any appreciable record of this Late Heavy Bombardment. The emergence of Earth's first life is approximately contemporaneous with the Late Heavy Bombardment; understanding the latter informs the environmental conditions of the former, which are likely necessary to constrain the mechanisms of abiogenesis. While the relative formation time of most of the Moon's large basins is known, the absolute timing is not. The timing of Crisium Basin's formation is one of many important events that must be constrained and would require identifying and dating impact melt formed in the Crisium event. To inform a future lunar sample dating mission, we thus characterized possible outcrops of impact melt. We determined that several mare lava-embayed kipukas could contain impact melt, though the rim and central peaks of the partially lava-flooded Yerkes Crater likely contain the most pure and intact Crisium impact melt. It is here where future robotic and/or human missions could confidently add a key missing piece to the puzzle of the combined issues of early Earth-Moon bombardment and the emergence of life.Plain Language Summary How could life get started on Earth nearly four billion years ago if our planet was constantly being impacted by asteroids and comets? While we do not yet know, we are starting to piece together parts of the answer. Earth's largest impact basins are long gone because of our planet's active geology, life, and flowing water. But the Moon's big craters are well preserved. The formation of those large basins melted lots of rocks, which then cooled; by collecting those rocks on future missions and figuring out how old they are, we can determine the timing of when large basins formed on the Moon and, by extension, on Earth. Crisium basin is one of those large basins that we need to get the age for. Most of the rock that was melted from this impact and then cooled is buried by much younger lava flows, but we believe that some of it was brought up when the crater Yerkes formed on top of Crisium. The central mountain of Yerkes Crater is where we believe future robots and/or astronauts should go to collect once-molten rock and figure out how old it and the basin are.

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Section: Journal Of Geophysical Research: Planetssupporting

confidence: 73%

Impact Melt Facies in the Moon's Crisium Basin: Identifying, Characterizing, and Future Radiogenic Dating

et al. 2020

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“…I 2 is the unit matrix with the dimension 2 × 2. Further, the observation of landmark-i can be expressed as Equation (22).…”

Section: 计理论mentioning

confidence: 99%

“…Among the three means, the method based on the landmark, i.e., the second method, has been widely used in many fields such as autonomous landing and satellite orbit determination because of its advantages of bounded navigation parameter error and more simple calculation [20]. For instance, NASA obtained the attitude estimation of the lander by matching landmarks taken by the camera with the reference landmarks in the ALHAT program [21,22]. Xu et al extracted the known landmarks and the unknown landmarks from images taken by the lander to establish the measurement equation, through which the INS output deviation could be corrected and the high-accuracy estimation of the position and the attitude could be given [23].…”

Section: Introductionmentioning

confidence: 99%

Landmark-Based Inertial Navigation System for Autonomous Navigation of Missile Platform

Lyu

Wang

et al. 2020

Sensors

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As a new information provider of autonomous navigation, the on-orbit landmark observation offers a new means to improve the accuracy of autonomous positioning and attitude determination. A novel autonomous navigation method based on the landmark observation and the inertial system is designed to achieve the high-accuracy estimation of the missile platform state. In the proposed method, the navigation scheme is constructed first. The implicit observation equation about the deviation of the inertial system output is derived and the Kalman filter is applied to estimate the missile platform state. Moreover, the physical observability of the landmark and the mathematical observability of the navigation system are analyzed. Finally, advantages of the proposed autonomous navigation method are demonstrated through simulations compared with the traditional celestial-inertial navigation system and the deeply integrated celestial-inertial navigation system.

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“…A representative method of TRN is optical navigation using extracted terrain features from images captured by a navigation camera. [1][2][3][4][5][6] Craters distributed throughout the lunar surface are salient features, and their locations and sizes are observable in scientific data collected by lunar orbiters. Crater maps can be generated in advance from the data, and the position of the lander can be estimated by collating the crater maps with processing results of images captured during the powered descent phase.…”

Section: Introductionmentioning

confidence: 99%

Crater Detection Robust to Illumination and Shape Changes using Convolutional Neural Network

Ishida

Takahashi

Fukuda

2021

Trans. Japan Soc. Aero. S Sci.

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As a vast amount of data with respect to the moon and Mars is collected, exploration missions are shifting to the next step, the aim of which is a precise landing on a predetermined target. A promising technology for precision landing is terrain relative navigation (TRN), which collates landmarks detected from images and maps of landmarks. Crater detection is one of the essential technologies for TRN. A problem in detecting craters is the apparent change in craters due to illumination conditions. Another problem is the change in shape due to crater degradation. We propose a novel crater detection method based on combining a support vector machine (SVM) and a convolutional neural network (CNN) to make detection performance robust against apparent change. In the linear SVM, gradient images of a crater image dataset are learned. The learned classifier is then used to calculate the objectness score for region proposal. Next, the CNN identifies the image of the proposed region as to whether or not it is a crater. Our results show that the proposed method can detect craters in a wide range of illumination and shape conditions, and has better average precision than traditional crater detectors.

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APLNav: Development Status of an Onboard Passive Optical Terrain Relative Navigation System

Cited by 15 publications

References 13 publications

Impact Melt Facies in the Moon's Crisium Basin: Identifying, Characterizing, and Future Radiogenic Dating

Impact Melt Facies in the Moon's Crisium Basin: Identifying, Characterizing, and Future Radiogenic Dating

Landmark-Based Inertial Navigation System for Autonomous Navigation of Missile Platform

Crater Detection Robust to Illumination and Shape Changes using Convolutional Neural Network

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