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Study on Autonomous Landing Guidance Method for Spacecraft

Research Project

Project/Area Number 10355036
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section展開研究
Research Field Aerospace engineering
Research InstitutionThe Institute of Space and Astronautical Science

Principal Investigator

NINOMIYA Keiken  Institute of Space and Astronautical Science, 宇宙探査工学研究系, 教授 (70013646)

Co-Investigator(Kenkyū-buntansha) KUBOTA Takashi  The Institute of Space and Astronautical Science Spacecraft Engineering Division,Associate Professor, 宇宙探査工学研究系, 助教授 (90211888)
HASHIMOTO Tatsuki  The Institute of Space and Astronautical Science Spacecraft Engineering Division,Associate Professor, 宇宙探査工学研究系, 助教授 (70228419)
ICHIRO Jun  The Institute of Space and Astronautical Science System Engineering Division,Professor, システム研究系, 教授 (10169691)
MARUYA Makoto  NEC,Corporation,Research Laboratories,Researcher, 主任
SAWI Shujiro  The Institute of Space and Astronautical Science Spacecraft Engineering Division,Research Associate, システム研究系, 助手 (30270440)
Project Period (FY) 1998 – 2001
Project Status Completed (Fiscal Year 2001)
Budget Amount *help
¥30,190,000 (Direct Cost: ¥29,800,000、Indirect Cost: ¥390,000)
Fiscal Year 2001: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2000: ¥7,700,000 (Direct Cost: ¥7,700,000)
Fiscal Year 1999: ¥1,400,000 (Direct Cost: ¥1,400,000)
Fiscal Year 1998: ¥19,400,000 (Direct Cost: ¥19,400,000)
KeywordsSpacecraft / Autonomous Landing / Navigation and Guidance / Attitude Control / Planetary Surface Model / Terrain Reoognition / Obstacle Avoidance / Sensory Information Processing
Research Abstract

Autonomous landing system for deep space exploration has been studied focusing on sensors, sensory information processing, terrain recognition based on image, and navigation, guidance and control of spacecraft. To evaluate the performance of the landing system, the graphical landing simulator has been developed, which has various kinds of functions, planetary surface modeling, sensory model generation, spacecraft dynamics design, navigation and guidance etc. The authors proposed a global mapping method based on moving stereo-vision technique and rim and shadow information. The authors developed a modeling scheme to build various kinds of planetary surface including craters and rocks. The authors also proposed a method to extract features on planetary images and a navigation method to estimate the relative position, velocity and attitude with respect to the surface by using range information and image information. The authors also succeeded in developing terrain recognition for obstacle avoidance and precise navigation and guidance of spacecraft to the landing site. The validity and effectiveness of the proposed methods were confirmed and verified by computer numerical simulations and the graphical landing simulator. These results show that it is possible to build good autonomous landing system which has robustness and high reliability. Good landing system is expected to contribute to the planetary science.

Report

(5 results)
  • 2001 Annual Research Report   Final Research Report Summary
  • 2000 Annual Research Report
  • 1999 Annual Research Report
  • 1998 Annual Research Report
  • Research Products

    (60 results)

All Other

All Publications (60 results)

  • [Publications] Toshihiko Misu: "Optical Guidance for Autonomous Landing of Spacecraft"IEEE Transaction Aerospace and Electronic Systems. Vol.35,No.2. 459-473 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Jun'ichiro Kawaguchi: "An Autonomous Optical Guidance and Navigation Around Asteroids"Acta Astronautica. Vol.44,No.5. 267-280 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Toshihiko Misu: "Terrain Shape Recognition for Celestial Landing/Rover Missions from Shade Information"Acta Astronautica. Vol.45,No.4-9. 357-364 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 三須 俊彦: "天体表面画像からの地形認識・抽出手法"電子情報通信学会論文誌D-II. Vol.J82-D-II, No.9. 1444-1457 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 中谷 一郎: "深宇宙探査機の自律化技術"計測と制御ミニ特集「惑星探査」. Vol.39,No.9. 570-575 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Tatsuaki Hashimoto: "Accurate Navigation for Lunar Lander/Orbiter based on Crater Identification"Advances in the Astronautical Sciences. Vol.108. 667-676 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Tatsuaki Hashimoto: "Autonomous Descent and Touch-down via Optical Sensors"Advances in the Astronautical Sciences. Vol.108. 469-480 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Takashi Kubota: "Maneuver Strategy for Station Keeping and Global Mapping around an Asteroid"Advances in the Astronautical Sciences. Vol.108. 769-779 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Jun'ichiro Kawaguchi: "MUSES-C, Asteroid Sample and Return Journey and its Technology Development"Proc.of 49th IAF Congress. Vol.1. (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Maruya Makoto: "Estimation of Motion and Shape of Asteroid Based on Image Sequences"Proc.of 14th International Symposium on Space Flight Dynamics. Vol.1. (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Jun'ichiro Kawaguchi: "The MUSES-C, Technology Demonstrator for the Sample and Return its Current Development Status"Proc.of IAF Specialists Symposium. Vol.1. (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Takashi Kubota: "Autonomous Landing System for MUSES-C Sample Return Mission"Proc.of fifth International Symposium on Artificial Intelligence, Robotics and Automation in Space. Vol.1. 615-620 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Takashi Kubota: "Navigation, Guidance, and Control of Asteroid Sample Return Spacecraft : MUSES-C"Proc.of 4th International Conference on Spacecraft Guidance, Naviation and Control Sytems. Vol.1. 511-516 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Takashi Kubota: "An Autonomous Navigation and Guidance System for MUSES-C Asteroid Landing"Proc.of 4th IAA International Conference on Low-Cost Planetary Missions. Vol.1. IAA-L-030 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Takashi Kubota: "Light Weight Sensors for the Autonomous Asteroid Landing of MUSES-C Mission"Proc.of 4th IAA International Conference on Low-Cost Planetary Missions. Vol.1. IAA-L-1001 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Takashi Kubota: "Robotics Technology for Asteroid Sample Return Mission MUSES-C"Proc.of Sixth International Symposium on Artificial Intelligence, Robotics and Automation in Space. AS016. 1-6 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Takashi Kubota: "Image-based Topographic Recognition on Natural Terrain"Proc.of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol.2. 901-906 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Tatsuaki Hashimoto: "Image-Based Guidance Navigation and Control for MUSES-C Sample and Return Spacecraft"Proc.of AAS Guidance and Control Conference. 02-023. 1-6 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] T.Misu, T.Hashimoto, K.Ninomiya,: ".Optical Guidance for Autonomous Landing of Spacecraft,"IEEE Transaction on Aerospace and Electronic Systems. Vol.35No.2. 459-473 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] J.Kawaguchi, X.Hashimoto, T.Misu, S.Sawa: "An Autonomous Optical Guidance and Navigation Around Asteroids"Acts Astronautica. Vol.44, No.5. 267-280 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] T.Misu, T.Hashimoto, K.Ninomiya: "Terrain Shape Recognition for celestial Landing Rover Missions from Shade Information"Acta Astronautica. Vol.45, Nos.4-9. 357-280 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] T.Misu, T.Hashimoto, K.Ninomiya: "Recognition and Extraction of Topographic Features from Grayscale Image or a Celestial Body, (in japan)"Trans. Of the Institute of Electronics, Information and Communication Engineers D-II. Vol.J82.D-II, No.9. 1444-1457 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Nakatani, T.Kubota,: "Autonomous Spacecraft System Technology for Deep Space Exploration.(in Japan)"Journal of the Society of Instrument and Control Engineers. Vol.39, No.9. 570-575 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] T.Hashimoto, Y.lmamura, T.Kubota, K.Ninomiya: "Aurate Navigation for Lunar Lander/Orbiter based on Crater Identification."Advances in the Astronautical Sciences. Vol. 108, pp. 667-676, Univelt Inc. (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] T.Hashimoto, T.Kubqta, J.Kawaguchi, M.Uo, K.Baba, T.Yamashita: "Autonomous Descent and Touch-down via Optical Sensors"Advances in the Astronautiral Sciences, Vol. 108, pp469-480, Umvelt Inc. (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] T.Kubota, T.Hashimoto, M.Uo, M.Maruya, K.Baba: "Maneuver Strategy for Station Keeping and Global Mapping around an Asteroid"Advances in the Astronautical Sciences, Vol. 108, pp. 769-779, Univelt Inc. (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] J.Kawaguchi: "MUSES-C, Asteroid Sample and Retum Journey and its Technology Development"49th lAF Congress. (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] M.Maruva. S.Sawai T.Kubota, T.Hashimoto K.Ninomiya: "Estimation of Motion and Shape of Asteroid Based on Image Sequences,"14th International Symposium on Space Flight Dynamics. (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] J.Kawaguchi. K-Uesugi, A.Fujiwara, H.Matsu,: "The MUSES-C, Technology Demonstrator for the sample and Retum Curent Development Srarus"Novel Concepts for Smaller, Faster and Better Space Missions, IAF Specialists Symposium. (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] T.Kubota, S.Sawai T.Misu T.Hashimoto J.Kawaguchi A.Fujiwara: "Autonomous Landing System for Muses-C Sample Retum Mission"Fifth Intemational Symposium on Artificial Intelligence, Robotics and Automation in Space,. 615-620 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Y.Kubota, T.Hashimoto, J.Kawaguchi, S.Sawai, K.Baba, M.Uo, M.Ogasawara, H.Osanaj: "Navigation, Guidance, and Control of Asteroid Sample Retum Spacecraft : Muses-C,"4th International Conference on Spacecraft Guidance, Navigation and Control Systems. 511-516 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] T.Kubota, T.Hashimoto. S.Sawai. J.Kawaguchi K.Ninomiya, M.Uo, K.Baba: ""An Autonomous Navigation and Guidance System for MUSES-C Asteroid Landing,"4th IAA International Conference on Low-Cost Planetary Mssions. IAA-L-030. (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] T.Kubota, T.Hashimoto, T.Mizuno: ""Light Weight Sensors for the Autonomous Asteroid Landing of MUSES-C Mission ;"4th IAA International Conference on Low-Cost Planetary Missions. IAA-L-1001. (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] T. Kubota, S. Sawai, T. Hashimoto, J. Kawaguchi, A. Fujiwara,: ". Robotics Technology for Asteroid Sample Return Mission MUSES-C ""Sixth International Symposium on Artificial Intelligence, Robotics and Automation in Spaced AS0 16. (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] T. Kubota, T. Misu, T. Hashimoto, K. Ninomiya: ". Image-based Topographic Recognition on Natural Terrain ;"The 2001 EEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2. 901-906 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] . Hashimoto, T. Kubota, S. Sawai, M. Uo,: ""Image-Based Guidance Navigation and Control for MUSES-C Sample and Return Spacecraft,"TAAS Guidance and Control Conference. 02-023 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] T.Hashimoto: "Accurate Navigation for Lunar Lander/Orbiter based on Crater Identification"Advances in the Astronautical Sciences. Vol.108. 667-676 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] T.Hashimoto: "Autonomous Descent and Touch-down via Optical Sensors"Advances in the Astronautical Sciences. Vol.108. 469-480 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 久保田 孝: "太陽センサと地球センサを用いた月面探査ローバの自己位置同定手法"ロボティクス・メカトロニクス講演会2001講演論文集. 2P2-A7. (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 澤井 秀次郎: "月へのピンポイント軟着陸最終降下時の航法・誘導に関する検討"第45回宇宙科学技術連合講演会予稿集. 01-2E3. (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 久保田 孝: "画像認識に基づく月面高精度着陸手法"第45回宇宙科学技術連合講演会予稿集. 01-2E11. (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] T.Hashimoto: "Image-Based Guidance Navigation and Control for MUSES-C Sample and Return Spacecraft"Proc. of AAS Guidance and Control Conference. 02-023. (2002)

    • Related Report
      2001 Annual Research Report
  • [Publications] 二宮敬虔: "画像情報に基づく月探査機の高精度航法"第44回宇宙科学技術連合講演会講演集. 00-3C2. (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] T.Hashimoto: "Autonomous Descent and Touch-down Via Optical Sensors"AAS/AIAA Space Flight Mechanics Meeting. 01-134. (2001)

    • Related Report
      2000 Annual Research Report
  • [Publications] S.Sawai: "MUSES-C Touch-Down Test by Robotics Simulator"10th Workshop on Astrodynamics and Flight Mechanics. C3. 286-291 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] T.Hashimoto: "Accurate Navigation for Lunar Lander/Orbiter based on Crater"AAS/AIAA Space Flight Mechanics Meeting. 01-148. (2001)

    • Related Report
      2000 Annual Research Report
  • [Publications] T.Kubota: "An Autonomous Navigation and Guidance System for MUSES-C Asteroid Landing"Proc.of 4th IAA International Conference on Low-Cost Planetary Missions. IAA-L-0307. (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] T.Kubota: "Maneuver Strategy for Station Keeping and Global Mapping around an Asteroid"AAS/AIAA Space Flight Mechanics Meeting. 01-156. (2001)

    • Related Report
      2000 Annual Research Report
  • [Publications] J. Kawaguchi: "An Autonomous Optical Guidance and Navigation Around Asteroids"Acta Astronautica. Vol.44, No.5. 267-280 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 橋本樹明: "定性的地形認識に基づく月面高精度着陸手法"第16回誘導制御シンポジウム講演論文集. 117-122 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] J. Kawaguchi: "The MUSES-C, Technology Demonstrator for the Sample and Return its Current Development Status", Novel Concepts for Smaller, Faster and Better"Proc. of IAF Specialists Symposium. 19-21 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 丸家誠: "小惑星探査におけるグローバルマッピング手法"アストロダイナミクスシンポジウム講演論文集. (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] T. Kubota: "Autonomous Landing System for MUSES-C Sample Return Mission"Proc. of 5th International Symposium on Artificial Intelligence, Robotics and Automation in Space. 1. 615-620 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 澤井秀次郎: "小惑星探査における自律着陸ランデブ手法"1999年電子情報通信学会通信ソサエティ大会予稿集. TB-1-5. 461-462 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] T.Misu: "Autonomy in Guidance using image-based terrainrecognition and optical navigation" Proc.of 14th Int.Symp.on Space Flight Dynamics. (1999)

    • Related Report
      1998 Annual Research Report
  • [Publications] 久保田孝: "MUSES-Cミッションにおける自律着陸センサの開発" 第42回宇宙科学連合講演会講演集. 98-3B3. (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] J.Kawaguchi: "Hardware Simulation of Image Based Navigation for MUSES-C" Proc.of 49th IAF Congress. B-7. 151-156 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] M.Maruya: "Estimation of Motion and Shape of Asteroid Based Image Sequences" Proc.of 14th Int.Symp.on Space Fight Dynamics. (1999)

    • Related Report
      1998 Annual Research Report
  • [Publications] J.Kawaguchi: "MUSES-C,Asteroid Sample and Return Journey and its Technology Development" Proc.of 49th IAF Congress. (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] T.Misu: "Terrain shape recognition for celestial landing/rover missions from shade information" Proc.of 3rd IAA Int.Conf.on Low-Cost Planetary Missions. 11.2.5. (1998)

    • Related Report
      1998 Annual Research Report

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Published: 1998-04-01   Modified: 2016-04-21  

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