Abstract
Hazard avoidance phase is one of the most important flight phases in lunar descent and safe landing. In this phase, the navigation system must take the capability of detecting hazards, designating a safe site and guiding the lander to the selected safe site, besides the normal ability of providing the information about position, velocity and attitude. The basic navigation instrument in hazard avoidance phase is Inertial Navigation System (INS). In order to eliminate the accumulated calculation errors in INS, the measurements from other sensors are always introduced, such as optical cameras and altimeters. In this paper, a relative navigation method for safe landing based on optical images is proposed. First, a safe landing site and a series image features are selected using image processing techniques, and then a kind of accurate relative navigation algorithm is performed by matching and tracking those selected image features. The simulation results imply that this method is effective to reduce the INS errors and can be used for hazard avoidance and pinpoint landing on the moon.
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