相关论文: LunarNav: Crater-based Localization for Long-range…

Impact craters are formed as a result of continuous impacts on the surface of planetary bodies. This paper proposes a novel way of simultaneously utilizing optical images, digital elevation maps (DEMs), and slope maps for automatic crater…

This study presents a vision system for planetary rovers, combining real-time perception with offline terrain reconstruction. The real-time module integrates CLAHE enhanced stereo imagery, YOLOv11n based object detection, and a neural…

To address the need for robust positioning, navigation, and timing services in lunar environments, this paper proposes a novel fault detection framework for satellite constellations using inter-satellite ranging (ISR). Traditionally,…

We develop an integrated guidance and control system that in conjunction with a stabilized seeker and landing site detection software can achieve precise and safe planetary landing. The seeker tracks the designated landing site by adjusting…

Today, robotics is an auspicious and fast-growing branch of technology that involves the manufacturing, design, and maintenance of robot machines that can operate in an autonomous fashion and can be used in a wide variety of applications…

We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…

The Moon is a primary focus of space exploration. Current navigation methods face significant limitations in providing precise location data for lunar missions. In particular, existing methods often require direct Line of Sight to Earth,…

We consider the problem of rover relocalization in the context of the notional Mars Sample Return campaign. In this campaign, a rover (R1) needs to be capable of autonomously navigating and localizing itself within an area of approximately…

This paper presents the preliminary design of the descent and landing trajectory of the ESA Argonaut lunar lander. The mission scenario and driving system constraints are presented and accounted for in the design of a fuel-optimal…

This paper shows the application of autonomous Crater Detection using the U-Net, a Fully-Convolutional Neural Network, on Ceres. The U-Net is trained on optical images of the Moon Global Morphology Mosaic based on data collected by the LRO…

Semi or completely autonomous unmanned vehicles, remotely driven or controlled through artificial intelligence, are instrumental to foster space exploration. One of the most essential tasks of a rover is terrain traversing which requires…

Lunar Laser Ranging (LLR) measurements are crucial for advanced exploration of the evolutionary history of the lunar orbit, the laws of fundamental gravitational physics, selenophysics and geophysics as well as for future human missions to…

We introduce a new real-time pipeline for Simultaneous Localization and Mapping (SLAM) and Visual Inertial Odometry (VIO) in the context of planetary rovers. We leverage prior information of the location of the lander to propose an…

Crater-Based Navigation (CBN) uses the ubiquitous impact craters of the Moon observed on images as natural landmarks to determine the six degrees of freedom pose of a spacecraft. To date, CBN has primarily been studied in the context of…

Autonomous terrain classification is an important problem in planetary navigation, whether the goal is to identify scientific sites of interest or to traverse treacherous areas safely. Past Martian rovers have relied on human operators to…

The Lunar Laser Ranging (LLR) experiment has accumulated 50 years of range data of improving accuracy from ground stations to the laser retroreflector arrays (LRAs) on the lunar surface. The upcoming decade offers several opportunities to…

A novel concept is presented in this paper for a human mission to the lunar L2 (Lagrange) point that would be a proving ground for future exploration missions to deep space while also overseeing scientifically important investigations. In…

The design of an indigenous Lunar Navigation Satellite System (LNSS) is receiving growing attention due to the surge in planned lunar missions and the limited accessibility of Earth-based Global Navigation Satellite Systems (GNSS) in the…

Recent advancements in lunar positioning, navigation, and timing (PNT) have demonstrated that terrestrial GNSS signals, including weak sidelobe transmissions, can be exploited for lunar spacecraft positioning and timing. While GNSS-based…

The renewed interest in lunar exploration and the development of future lunar communication and navigation services highlight the need for a precise, stable, and interoperable geodetic and timing infrastructure on the Moon. NovaMoon,…