Visual navigation for autonomous, precise and safe landing on celestial bodies using unscented Kalman filtering

Abstract

This paper explores the state estimation problem for an autonomous precise landing approach on celestial bodies. As part of the project “Autonomous Terrain-based Optical Navigation” (ATON) of the German Aerospace Center (DLR) this paper describes the central state estimation algorithm. This algorithm combines high rate inertial navigation with low rate… (More)

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