Toward Velocity Estimation Using Motion Blurs of a Single Image for Planetary Landers

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  • KARIYA Kazuki
    連絡先著者（Corresponding author）：kariya.kazuki@ac.jaxa.jp 総合研究大学院大学
  • FUKUDA Seisuke
    総合研究大学院大学 宇宙航空研究開発機構

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  • 月惑星着陸機における単一画像のブレを用いた速度推定法の検討
  • ツキ ワクセイ チャクリクキ ニ オケル タンイツ ガゾウ ノ ブレ オ モチイタ ソクド スイテイホウ ノ ケントウ

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For planetary exploration missions using a lander, autonomous pinpoint landing capability whose precision is less than 100-meter must be needed in order to land on limited investigation areas. This capability cannot be realized with an inertial navigation system in terms of accuracy, so that the inertial error should be reduced in some way. One of solutions is image-based velocity measurement in a navigation path of the planetary lander. However, images taken by the lander have probrems such as frame rate limit and motion blur. Moreover, the available onboard resources of computation are limited. This paper proposes a velocity estimation method using a single blurred image for the pinpoint planatary landing. We present the method based on cepstral analysis and discuss feasibility through resource evaluation with a space-grade FPGA.

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