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NASA NTRS · 20240011910

Monocular Horizon Navigation

Will Driessen·Siddarth Kaki·Andrew Liounis·Daniel McGann·Paul McKee·Andrew Tennenbaum·Alvin Yew
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Abstract

The Artemis program advances towards operations on the lunar surface, where precise surface localization is a driving need for safety and science. Using the observable horizon as an image landmark allows for estimating the photographer’s position. This work analyzes the application of Perspective-n-Point (PnP) algorithms to this lunar localization problem. Batch simulations using lunar topography display the accuracy and drawbacks of these methods. Monte Carlo techniques show the pipeline’s solutions as measurements provided to a navigation filter. When filtered, these solutions have position errors of 50 meters or better, which is similar to or better than the performance of other methods of surface localization.

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Will Driessen, Siddarth Kaki, Andrew Liounis, Daniel McGann, Paul McKee, Andrew Tennenbaum, Alvin Yew. Monocular Horizon Navigation. https://ntrs.nasa.gov/citations/20240011910

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