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http://dx.doi.org/10.5139/JKSAS.2010.38.7.673

Terrain Aided Inertial Navigation for Precise Planetary Landing  

Jeong, Bo-Young (한국과학기술원 항공우주 대학원)
Choi, Yoon-Hyuk (한국과학기술원 항공우주 대학원)
Jo, Su-Jang (한국과학기술원 항공우주 대학원)
Bang, Hyo-Choong (한국과학기술원 항공우주)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.38, no.7, 2010 , pp. 673-683 More about this Journal
Abstract
This study investigates Terrain Aided Inertial Navigation(TAIN) which consists of Inertial Navigation System (INS) with the optical sensor for precise planetary landing. Image processing is conducted to extract the feature points between measured terrain data and on-board implemented terrain information. The navigation algorithm with Iterated Extended Kalman Filter(IEKF) can compensate for the navigation error, and provide precise navigation information compared to single INS. Simulation results are used to demonstrate the feasibility of integration to accomplish precise planetary landing. The proposed navigation approach can be implemented to the whole system coupled with guidance and control laws.
Keywords
Terrain Aided Inertial Navigation; Iterated Extended Kalman Filter; Feature Detection; Matching and Tracking; Planetary Landing;
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