Relative Position and Attitude Determination for Robotic Mars Soft Landing Using Multi-Point Laser Rangefinder

Abstract

Several international deep space exploration plans aimed at Mars landing and surface sample returning. Because of the communication delay between Earth and Mars and the lack of information on the Mars complicated surface, autonomous landing at selected location is required. Based on multi-point laser rangefinder and optical navigation camera, the relative position and attitude rapid determination algorithm is present in order to ensure precise and safe landing. To get the normal direction of the landing plane and the target point position, the geometry relation of laser measure vectors and target point are used. Finally, performance of the autonomous relative position and attitude determination system is verified using the numerical simulation. The results show that the proposed methods can achieve accurate position and attitude determination.