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Title: A landmark based position estimation for pinpoint landing on Mars
Authors: Cheng, Yang
Ansar, Adnan
Keywords: pinpoint landing
landmark detection
landmark matching
position estimation
in situ missions
Issue Date: 18-Apr-2005
Publisher: Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2005.
Citation: International Conference on Robotics and Automation, Barcelona, Spain, April 18-22, 2005.
Abstract: Real-time position estimation for a descent lander is a critical technological need for many of NASA's planned in situ missions including landing on a number of bodies at locations of greatest scientific interest and sample return. In particular, it enables the capability to land precisely and safely in a scientifically promising but hazardous site and is a key technology to be demonstrated by NASA in the next decade. The key challenge of pinpoint landing (PPL) is how to localize the lander by recognizing the landmarks (craters) in the landing area and match them positively to a preexisting landmark database while the spacecraft is descending. In this paper, a real-time landmark based position estimation technique for pinpoint landing is suggested. This system includes three crucial components: ( 1 ) real time landmark detection, (2) real-time landmark matching and (3) state (both position and velocity) estimation. We discuss the performance analysis of this system.
Appears in Collections:JPL TRS 1992+

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