Vision-Aided Navigation for a Free-Flying Unmanned Robotic System to Support Interplanetary Bodies Prospecting and Characterization Missions

Variational Bayesian adaptive high‐degree cubature Huber‐based filter for vision‐aided inertial navigation on asteroid missions

“…The VNS can provide position and attitude information that is consistent and accurate [5], but the data update rate is slow due to the image processing computational costs. Therefore, the vision‐aided INS (VAINS), which uses complementary inertial and visual navigation information, is increasingly being used for the asteroid missions [6, 7]. Li et al utilised the pixels of three selected landmarks to correct an INS drift error [4], and Trawny et al confirmed the validity of the vision‐aided inertial navigation [8].…”