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Volume 22
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10.3390/s22197366
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Article

Fast Positioning Model and Systematic Error Calibration of Chang’E-3 Obstacle Avoidance Lidar for Soft Landing

by
Donghong Wang
1,
Xingfeng Chen
2,3,
Jun Liu
2,*,
Zongqi Liu
2,4,
Fengjie Zheng
3,
Limin Zhao
2,4,
Jiaguo Li
2 and
Xiaofei Mi
2
1
Beijing Institute of Tracking and Telecommunications Technology, Beijing 100094, China
2
Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, China
3
School of Space Information, Space Engineering University, Beijing 101416, China
4
School of Surveying and Land Information Engineering, Henan Polytechnic University, Jiaozuo 454000, China
*
Author to whom correspondence should be addressed.
Sensors 2022, 22(19), 7366; https://doi.org/10.3390/s22197366
Submission received: 24 August 2022 / Revised: 17 September 2022 / Accepted: 23 September 2022 / Published: 28 September 2022
(This article belongs to the Special Issue Remote Sensing Technology Supporting the "Belt and Road" Sustainable Development)
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Abstract

Chang’E-3 is China’s first soft landing mission on an extraterrestrial celestial body. The laser Three-Dimensional Imaging (TDI) sensor is one of the key payloads of the Chang’E-3 lander. Its main task is to provide accurate 3D lunar surface information of the target landing area in real time for the selection of safe landing sites. Here, a simplified positioning model was constructed, to meet the accuracy and processing timeline requirements of the TDI sensor of Chang’E-3. By analyzing the influence of TDI intrinsic parameters, a permanent outdoor calibration field based on flat plates was specially designed and constructed, and a robust solution of the geometric calibration adjustment was realized by introducing virtual observation equations for unknowns. The geometric calibration and its absolute and relative positioning accuracy verification were carried out using multi-measurement and multi-angle imaging data. The results show that the error of TDI intrinsic parameters will produce a false obstacle with a maximum height of about 1.4 m on the plane, which will cause the obstacle avoidance system of Chang’E-3 to fail to find a suitable landing area or find a false flat area. Furthermore, the intrinsic parameters of the TDI have good stability and the accuracy of the reconstructed three-dimensional surface can reach about 4 cm after error calibration, which provides a reliable terrain guarantee for the autonomous obstacle avoidance of the Chang’E-3 lander.
Keywords: Chang’E-3; LiDAR; intrinsic parameters; geometric calibration; planar target plate Chang’E-3; LiDAR; intrinsic parameters; geometric calibration; planar target plate

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MDPI and ACS Style

Wang, D.; Chen, X.; Liu, J.; Liu, Z.; Zheng, F.; Zhao, L.; Li, J.; Mi, X. Fast Positioning Model and Systematic Error Calibration of Chang’E-3 Obstacle Avoidance Lidar for Soft Landing. Sensors 2022, 22, 7366. https://doi.org/10.3390/s22197366

AMA Style

Wang D, Chen X, Liu J, Liu Z, Zheng F, Zhao L, Li J, Mi X. Fast Positioning Model and Systematic Error Calibration of Chang’E-3 Obstacle Avoidance Lidar for Soft Landing. Sensors. 2022; 22(19):7366. https://doi.org/10.3390/s22197366

Chicago/Turabian Style

Wang, Donghong, Xingfeng Chen, Jun Liu, Zongqi Liu, Fengjie Zheng, Limin Zhao, Jiaguo Li, and Xiaofei Mi. 2022. "Fast Positioning Model and Systematic Error Calibration of Chang’E-3 Obstacle Avoidance Lidar for Soft Landing" Sensors 22, no. 19: 7366. https://doi.org/10.3390/s22197366

APA Style

Wang, D., Chen, X., Liu, J., Liu, Z., Zheng, F., Zhao, L., Li, J., & Mi, X. (2022). Fast Positioning Model and Systematic Error Calibration of Chang’E-3 Obstacle Avoidance Lidar for Soft Landing. Sensors, 22(19), 7366. https://doi.org/10.3390/s22197366

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