Campus del Baix Llobregat
 
Projectes oferts

Projectes matriculats

Tribunals i dates de lectura

Projectes llegits
(2012-2)

DG ENG AERO/SIS TEL

DG ENG AERO/TELEMÀT

DG ENG SISTE/TELEMÀT

ENG TELEC 2NCICLE 01

ET AERO/ETT SIST 05

ET AERONÀUTICA 03

ETT SIST/ ET AERO 05

ETT SIST TELEC 00

ETT SIST TELEC 91

ETT TELEMÀTICA 00

GR ENG AERONAVEGACIÓ

GR ENG AEROPORTS

GR ENG SIS TELECOMUN

GR ENG SIST AEROESP

GR ENG TELEMÀTICA

MU AEROSPACE S&T 09

MU DRONS

MU MASTEAM 2009

MU MASTEAM 2015

Cerca projectes

Calendari TFG de dipòsit i lectura

Documentació

Web UPC


 

Projecte llegit

Títol: Vision-based absolute navigation for the Martian landing

Director: PASCUAL ISERTE, Antonio

Departament: TSC

Títol: Vision-based absolute navigation for the Martian landing

Data inici oferta: 01-10-2013     Data finalització oferta: 01-10-2013


Estudis d'assignació del projecte:
    MU AEROSPACE S&T
Tipus: Individual
 
Lloc de realització: Fora UPC    
 
        Supervisor extern: Jean-François Jourdas
        Institució/Empresa: EADS Astrium Space Transportation
        Titulació del Director: enginyer generalista (esp. aeroespacial)
 
Paraules clau:
navigation, vision, inertial, landing, pinpoint, absolute navigation, lander, orbiter, feature points, image, search window, Harris detector, homography, correlation, Least Squares Method, Kalman filter
 
Descripció del contingut i pla d'activitats:
Future European missions aspire to bring soil samples from Mars back to Earth. The precise identification of the site from which samples are taken leads to major constraints as to the landing accuracy of the lander. Vision-based absolute navigation now appears to be the most promising navigation method for correcting errors originated from the interplanetary voyage at the point of re-entry.

The thesis has consisted in improving the vision-based absolute navigation simulator developed for the landing phase. The image processing and identification algorithms have been based on algorithms implemented in 2012: matching between the characteristic points of the embedded image and the points which come from processing the measured image. The work has been focused on improving the navigation method with the main objective of minimizing the onboard design load and improving the robustness of the navigation system performance.

The main tasks to continue the development of the simulator have followed the next steps:

- Implementing and validating an iterative algorithm supplying a relative position/attitude in relation to the landing site.
- Implementing flexible hybridization, incorporating the level of confidence in the matching carried out.
- Studying the problem of the navigation filter initialization for a Martian landing.
 
Overview (resum en anglès):
Future European missions aspire to bring soil samples from Mars back to Earth. The precise identification of the site from which samples are taken leads to major constraints as to the landing accuracy of the lander. Vision-based absolute navigation now appears to be the most promising navigation method for correcting errors originated from the interplanetary voyage at the point of re-entry.

The thesis has consisted in improving the vision-based absolute navigation simulator developed for the landing phase. The image processing and identification algorithms have been based on algorithms implemented in 2012: matching between the characteristic points of the embedded image and the points which come from processing the measured image. The work has been focused on improving the navigation method with the main objective of minimizing the onboard design load and improving the robustness of the navigation system performance.

The main tasks to continue the development of the simulator have followed the next steps:

- Implementing and validating an iterative algorithm supplying a relative position/attitude in relation to the landing site.
- Implementing flexible hybridization, incorporating the level of confidence in the matching carried out.
- Studying the problem of the navigation filter initialization for a Martian landing.


Data de generació 26/01/2021