ALPER: Vision based absolute localization for planetary exploration rovers - Statistical analysis of complementary approaches

IF 3.4 2区物理与天体物理 Q1 ENGINEERING, AEROSPACE

Acta Astronautica Pub Date : 2025-09-19 DOI:10.1016/j.actaastro.2025.09.041

Philemon Fieschi, Loic Le Cabec, Vincent Delort, Thierry Germa, Emma Villanueva-Rourera

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Abstract

Future surface planetary missions, such as sample returns or base construction, require advanced Guidance, Navigation, and Control systems for long-distance autonomous operations. Current systems depend on relative localization, which accumulates error over extended distances. Absolute localization algorithms, akin to GNSS on Earth, are crucial for accurate, independent pose corrections.

Focusing initially on the Martian context and the availability of satellite imagery with 0.3 m/px resolution, the ALPER project developed three absolute localization algorithms: CM (Constellation Matching) using rock detection, DICOR (Dense Image Co-registration) aligning orthomosaics with orbital images, and SkyM (Skyline Matching) for horizon skyline comparison. These methods build upon landmark matching, dense image matching, and horizon data alignment techniques, introducing improvements in both the data processing and matching stages.

CM and DICOR were evaluated through Monte Carlo simulations and field trials in the Bardenas Reales, achieving localization accuracy below 0.6m under nominal conditions, and within the 1.25m criteria in 94 %–99 % of the cases, even with initial offsets of up to 20 m. The algorithms demonstrated complementary strengths: CM was effective across varying illumination conditions, while DICOR proved robust to rock density. These solutions have shown robustness, readiness, and high effectiveness for future planetary missions, reaching TRL6 maturity. SkyM obtained heading errors under 2° and position errors around 5 m, indicating promising potential for further development to increase its maturity level.

Preliminary results are also presented regarding the evaluation and adaptation of these localization methodologies to the lunar South Pole context, characterized by harsh illumination conditions. Tests are realized on a simulated realistic lunar dataset, and the method’s performances are compared to those obtained on the Martian context. The study then introduces advancements to their design, with the key improvement being the detection and use of craters as landmarks. First functional tests demonstrate that this enhancement extends the method’s operational domain, increasing the amount of estimations and overall accuracy.

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行星探测车的基于视觉的绝对定位。互补方法的统计分析

未来的地表行星任务，如样本返回或基地建设，需要先进的制导、导航和远程自主操作的控制系统。目前的系统依赖于相对定位，这会在较长的距离上积累误差。绝对定位算法，类似于地球上的GNSS，对于准确、独立的姿态校正至关重要。ALPER项目最初专注于火星环境和0.3 m/px分辨率卫星图像的可用性，开发了三种绝对定位算法：CM（星座匹配）使用岩石检测，DICOR（密集图像共同配准）将正形图与轨道图像对齐，SkyM（天际线匹配）用于地平线天际线比较。这些方法建立在地标匹配、密集图像匹配和水平数据对齐技术的基础上，在数据处理和匹配阶段都进行了改进。CM和DICOR通过蒙特卡罗模拟和Bardenas Reales的现场试验进行评估，在标称条件下，定位精度低于0.6m，在94% - 99%的情况下，定位精度在1.25m标准内，即使初始偏移量高达20 m。这些算法显示出互补的优势：CM在不同的光照条件下都有效，而DICOR在岩石密度下都很稳定。这些解决方案在未来的行星任务中表现出了稳健性、准备性和高效性，达到了TRL6的成熟度。SkyM的航向误差在2°以内，位置误差在5 m左右，表明其成熟度有进一步发展的潜力。本文还介绍了这些定位方法在月球南极环境下的评估和适应的初步结果，该环境具有恶劣的光照条件。在模拟真实的月球数据集上实现了测试，并将该方法的性能与在火星环境下获得的性能进行了比较。该研究随后介绍了他们设计的进步，其中关键的改进是探测和使用陨石坑作为地标。首先，功能测试证明了这种增强扩展了方法的操作域，增加了估计的数量和总体准确性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Acta Astronautica 工程技术-工程：宇航

CiteScore

7.20

自引率

22.90%

发文量

599

审稿时长

53 days

期刊介绍： Acta Astronautica is sponsored by the International Academy of Astronautics. Content is based on original contributions in all fields of basic, engineering, life and social space sciences and of space technology related to: The peaceful scientific exploration of space, Its exploitation for human welfare and progress, Conception, design, development and operation of space-borne and Earth-based systems, In addition to regular issues, the journal publishes selected proceedings of the annual International Astronautical Congress (IAC), transactions of the IAA and special issues on topics of current interest, such as microgravity, space station technology, geostationary orbits, and space economics. Other subject areas include satellite technology, space transportation and communications, space energy, power and propulsion, astrodynamics, extraterrestrial intelligence and Earth observations.