概要

Japan Aerospace Exploration Agency (JAXA) has planned the Smart Lander for Investigating Moon (SLIM) mission which aims at establishing the pinpoint spacecraft landing technology. We have a role to propose the spacecraft localization method which matches the craters on the camera shot image of the moon surface taken by the spacecraft and those on the crater map including coordinates of all craters on the moon. In this paper, we improve TSM as the previous method to be applied to the comprehensive situations which are combined with some kinds of errors. Concretely, we change the crater matching mechanism of TSM to the simple one which rough and strict matchings stand side by side. At first, the improved TSM matches the triangles made by linking three craters in the crater map and the camera shot image. Next, the improved TSM matches the craters in the crater map and the camera shot image by calculating inner and cross products. In this process, the improved TSM utilizes normal and strict thresholds for the matching. At last, if the number of the matched craters by the strict threshold is over 14 or if the matched craters by the normal threshold is over nine, the improved TSM estimates the own location based on the craters; otherwise, TSM estimates the own location by the craters whose number is the largest of all before. In the experiment, we compare the improved TSM with Line segment matching (LSM) as the previous method proposed by JAXA in the comprehensive test which six test cases with two situations, the errors exist and do not exist, and three kinds of the crater maps. The experimental results derive that (1) the improved TSM performs better than LSM; (2) the triangle matching mechanism helps the TSM to estimate the own location not only roughly but accurately enough to avoid miss matching; and (3) the crater matching mechanism helps the TSM to estimate the own location accurately.

論文誌情報

題目: How to Select Appropriate Craters to Estimate Location Accurately in Comprehensive Situations for SLIM Project
著者: Fumito Uwano, Takato Tatsumi, Akinori Murata, Keiki Takadama, Hiroyuki Kamata, Takayuki Ishida, Seisuke Fukuda, Shujiro Sawai and Shinichiro Sakai
誌名: Proceedings of the 32nd International Symposium on Space Technology and Science (ISTS2019)
詳細: Fukui, Japan, June 2019

Bibtex or Download

@inproceedings{fumito uwano 2019select,
  title={How to Select Appropriate Craters to Estimate Location Accurately in Comprehensive Situations for SLIM Project},
  author={Fumito Uwano and Takato Tatsumi and Akinori Murata and Keiki Takadama and Hiroyuki Kamata and Takayuki Ishida and Seisuke Fukuda and Shujiro Sawai and Shinichiro Sakai},
  booktitle={Proceedings of the 32nd International Symposium on Space Technology and Science (ISTS2019)},
  year={2019},
  month={June}
}