| Whether it is the detection of the moon or other celestial bodies,safe soft landing is one of the important key technologies,which is directly related to the success or failure of the exploration mission.The result of obstacle recognition during the lunar landing has a direct impact on landing navigation.The sensors used for obstacle recognition mainly include CCD camera and LIDAR to obtain the topographic information of the landing area.The obstacle de tection algorithm is used to perform risk assessment on the landing area to provide support for safe landing.This paper studies how to detect and identify obstacles during the lunar soft landing.The main research work is as follows.First,the obstacle detection and recognition methods based on visible light images collected by CCD cameras are studied.For rock disorders,an image segmentation algorithm based on the Otsu is studied to realize the recognition of rock disorders and their shadows.For the crater barriers,an edge detection method based on the Canny operator is studied to make the crater true.The edge is extracted by edge screening and edge matching,and the crater is fitted by ellipse fitting to complete the crater recognition.Second,we study the obstacle recognition method based on LIDAR acquisition of terrain three-dimensional data.On the basis of obtaining the elevation data of sampling points,the least squares median method is used to eliminate the outliers,and the least squares algorithm is used to determine the best surface equation of the terrain in order to calculate the roughness and slope of the terrain,and further Conduct monthly hazard assessments.Finally,a multi-pattern information obstacle recognition method using CCD camera and LIDAR sensor is proposed.The lunar surface obstacles were identified using data collected by CCD cameras and LIDAR sensors at different altitudes,and a spiral search method was chosen to select the safe landing zone and the safe landing zone. |
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