论文标题
Nova-C Lander的危险检测和避免
Hazard Detection And Avoidance For The Nova-C Lander
论文作者
论文摘要
2022年初，直观机器的Nova-C Lander将在月球表面降落成为第一个参观天体的商业努力。 Nova-C将通过各种科学和工程目标向农历表面提供六个有效载荷，并迎来了商业空间探索和利用的新时代。但是，为了安全地完成任务，Nova-C Lander必须确保其着陆点没有大于30厘米的危险，并且在达阵时，当地地形的斜率小于垂直的10度。为此，Nova-C利用了直观机器的精确导航系统，再加上机器视觉算法以减少场景和着陆点特征。 NOVA-C方法的一个独特方面是危险检测和回避算法的实时性质 - 在预期的着陆点的上下进行400米，并在15秒内完成。在本文中，我们回顾了危害检测和回避算法的理论基础，描述Nova-C飞行计算机实施的实际挑战，以及目前的测试和分析结果。
In early 2022, Intuitive Machines' NOVA-C Lander will touch down on the lunar surface becoming the first commercial endeavor to visit a celestial body. NOVA-C will deliver six payloads to the lunar surface with various scientific and engineering objectives, ushering in a new era of commercial space exploration and utilization. However, to safely accomplish the mission, the NOVA-C lander must ensure its landing site is free of hazards larger than 30 cm and the slope of local terrain at touchdown is less than 10 degrees off vertical. To accomplish this, NOVA-C utilizes Intuitive Machines' precision navigation system, coupled with machine vision algorithms for scene reduction and landing site characterization. A unique aspect to the NOVA-C approach is the real-time nature of the hazard detection and avoidance algorithms--which are performed 400 meters above and down range of the intended landing site and completed within 15 seconds. In this paper, we review the theoretical foundations for the hazard detection and avoidance algorithms, describe the practical challenges of implementation on the NOVA-C flight computer, and present test and analysis results.
