CAJ | 학술논문

针对月球软着陆自主避障的需求，提出了一种适合月球灰尘表面的改进优化 Hapke 模型，给出了相对高程的求解、障碍识别与安全区选取方法，解决了已有纹理法无法识别坡度的问题，实现了利用单幅图像的月面着陆障碍识别与安全区域选取。利用月球软着陆下降段仿真图像，进行了模型解算和三维高程恢复并计算安全区域，结果表明，利用月面单幅图像能够实现障碍的识别与安全区的选取。
침대월구연착륙자주피장적수구，제출료일충괄합월구회진표면적개진우화 Hapke 모형，급출료상대고정적구해、장애식별여안전구선취방법，해결료이유문리법무법식별파도적문제，실현료이용단폭도상적월면착륙장애식별여안전구역선취。이용월구연착륙하강단방진도상，진행료모형해산화삼유고정회복병계산안전구역，결과표명，이용월면단폭도상능구실현장애적식별여안전구적선취。
A method of ameliorated Hapke model which is the same with satellite surface covered with deep dust is put forward to satisfy the needs of soft landing on the moon.The linearization method is used to calculate the differential equation and to get the relative three-dimensional height of simulative images for obstacle recognition and selection of safe area during landing phase.It can resolve the problem that is difficult to recognize the slope by texture method.Making use of the simulating lunar images during landing,the model calculation,three-dimensional height rebuilding and safe area selection are realized.The results show the validity of this method using single lunar image.