한국항공우주학회지 (Journal of the Korean Society for Aeronautical & Space Sciences)

  • 제38권7호
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  • Pages.673-683
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  • 2010
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  • 1225-1348(pISSN)
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  • 2287-6871(eISSN)
한국항공우주학회 (The Korean Society for Aeronautical and Space Sciences)
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정밀 행성 착륙을 위한 지형 보조 관성 항법 연구

Terrain Aided Inertial Navigation for Precise Planetary Landing

  • 정보영 (한국과학기술원 항공우주 대학원) ;
  • 최윤혁 (한국과학기술원 항공우주 대학원) ;
  • 조수장 (한국과학기술원 항공우주 대학원) ;
  • 방효충 (한국과학기술원 항공우주)
  • 투고 : 2010.03.04
  • 심사 : 2010.06.07
  • 발행 : 2010.07.01
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초록

본 논문에서는 정밀 행성 착륙을 위해 광학센서와 관성항법시스템을 이용한 지형보조 관성항법 시스템을 구현하였다. 또한 측정된 지형 데이터와 사전에 탑재한 지형 데이터간의 특징점 추출, 매칭, 추적의 영상 처리 과정을 수행하였고 이를 통해 특징점의 좌표를 추출할 수 있다. 반복 확장칼만필터를 이용한 항법 시스템은 기존 관성 항법 장치의 항법 오차 누적을 보상하여 보다 정밀한 항법 정보를 제공한다. 이는 향후 착륙선의 유도 및 제어 법칙과 결합하여 정밀 행성 착륙을 위한 시스템 구현에 적용이 가능하다.

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.

키워드

참고문헌

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피인용 문헌

  1. Analysis of Delta-V Losses During Lunar Capture Sequence Using Finite Thrust vol.28, pp.3, 2011, https://doi.org/10.5140/JASS.2011.28.3.203
  2. Lunar CubeSat Impact Trajectory Characteristics as a Function of Its Release Conditions vol.2015, 2015, https://doi.org/10.1155/2015/681901
  3. Analysis on Tracking Schedule and Measurements Characteristics for the Spacecraft on the Phase of Lunar Transfer and Capture vol.31, pp.1, 2014, https://doi.org/10.5140/JASS.2014.31.1.51