期刊
REMOTE SENSING
卷 14, 期 2, 页码 -出版社
MDPI
DOI: 10.3390/rs14020402
关键词
planetary rover; navigation camera; in-orbit; self-calibration; multiple constraints
类别
资金
- National Natural Science Foundation of China [42071447, 42074012]
- Liaoning Key Research and Development Program [2020JH2/10100044]
- Scientific Research Fund of Liaoning Provincial Education Department [LJ2019JL021]
This paper proposes a method to achieve high-precision calibration of the planetary rover navigation camera using limited initial data in-orbit. By constructing a joint adjustment model with multiple constraints and introducing an adaptive brightness-weighted line extraction method, the proposed approach outperforms other methods in terms of accuracy. It has also been successfully implemented in China's deep space exploration missions.
In order to complete the high-precision calibration of the planetary rover navigation camera using limited initial data in-orbit, we proposed a joint adjustment model with additional multiple constraints. Specifically, a base model was first established based on the bundle adjustment model, second-order radial and tangential distortion parameters. Then, combining the constraints of collinearity, coplanarity, known distance and relative pose invariance, a joint adjustment model was constructed to realize the in orbit self-calibration of the navigation camera. Given the problem of directionality in line extraction of the solar panel due to large differences in the gradient amplitude, an adaptive brightness-weighted line extraction method was proposed. Lastly, the Levenberg-Marquardt algorithm for nonlinear least squares was used to obtain the optimal results. To verify the proposed method, field experiments and in-orbit experiments were carried out. The results suggested that the proposed method was more accurate than the self-calibration bundle adjustment method, CAHVOR method (a camera model used in machine vision for three-dimensional measurements), and vanishing points method. The average error for the flag of China and the optical solar reflector was only 1 mm and 0.7 mm, respectively. In addition, the proposed method has been implemented in China's deep space exploration missions.
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