【摘要】 针对月面巡视探测器远离着陆器后的高精度定位需求,提出了基于单摄站全景影像的定位方法。采用已获取的空间高分辨率影像提取控制点,并在单摄站的全景影像中提取相对应的控制点,通过空间交会方法完成巡视探测器的高精度定位。实验表明:提出的方法有效的减小了影像拼接时的变形,且具有稳定的定位能力和较好的定位精度,在实验的10个摄站中平均定位精度可以达到1.141m,最大定位误差为2.571m,完全能够满足巡视探测器远距离定位指标。更多还原

【Abstract】 In demand of precise positioning of lunar rover far away from the Lander,a new positioning method is proposed based on the panoramic images of single camera station.Control points are extracted from high-resolution space images,and the corresponding control points are extracted in panoramic image of single camera station,the rover’s high-precision positioning is completed by spatial intersection method.Experiments showed that:the proposed method effectively reduces the deformation of the image mosaic,and has a stable positioning capability and good positioning accuracy.The average positioning accuracy can reach 1.141min 10camera stationsof the experiment,and maximum positioning error is 2.571m,which can fully meet the needs of long-range positioning for the rover.更多还原