一种行星软着陆地形风险评估方法

张泽旭, 王卫东, 崔平远, 张公平

哈尔滨工业大学深空探测着陆与返回控制技术国防重点学科实验室



摘要:

提出了一种基于信息融合的行星软着陆地形风险评估方法.首先,对着陆导航相机采集的地形灰度图像和激光雷达采集的地形高程数据分别进行地形特征提取;其次,建立着陆区地形的模糊变量和隶属函数,利用模糊推理工具,完成相应的局部特征风险评估;最后,利用基于加权均值的决策级融合算法,完成最后的地形风险评估,给出着陆点分布.对三维数字地形图像的仿真实验表明,本文给出的地形风险评估方法能够有效的完成着陆点的精确选取.

关键词:  软着陆  地形特征  风险评估  信息融合  着陆点

DOI：10.11918/j.issn.0367-6234.2011.05.005

分类号:V448.22

基金项目:航天创新基金资助项目(CASC200902-4);深空探测着陆与返回控制技术国防重点学科实验室开放基金资助项目(HIT.KLOF.2009070)



An algorithm of terrain hazard assessment for planetary soft landing

ZHANG Ze-xu, WANG Wei-dong, CUI Ping-yuan, ZHANG Gong-ping

Key Laboratory of Fundamental Science for National Defense of Landing and Returning Control Technique of Deep Space Exploration,Harbin Institute of Technology,150001 Harbin

Abstract:

An algorithm of terrain hazard assessment for soft landing based on information fusion is presented.Firstly,two types of terrain features are extracted from the gray images of landing navigation camera and the elevation data of Lidar respectively.Then,fuzzy variables and membership functions on terrain features are presented,and local terrain hazard assessments are realized by fuzzy inference.Finally,the global terrain hazard is assessed based on the decision-class fusion of weighted means,and the safe landing sites are obviously showed.The simulation experiments using 3D digital terrain image have validated the proposed algorithm effectively.

Key words:  soft landing  terrain features  hazard assessment  information fusion  landing site