{"created":"2023-06-20T14:40:33.725874+00:00","id":7470,"links":{},"metadata":{"_buckets":{"deposit":"cd2c8c4e-f013-48b6-a743-b02ff089ca0a"},"_deposit":{"created_by":1,"id":"7470","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7470"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007470","sets":["1543:1544:1556","1887:1891"]},"author_link":["39793","39802","39798","39796","39800","39799","39801","39794","39795","39797"],"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2008-03","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"205","bibliographicPageStart":"200","bibliographic_titles":[{"bibliographic_title":"第17回アストロダイナミクスシンポジウム講演後刷り集　2007"},{"bibliographic_title":"Proceedings of 17th Workshop on JAXA Astrodynamics and Flight Mechanics","bibliographic_titleLang":"en"}]}]},"item_5_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"2005年11月に探査機はやぶさ(MUSES-C: Asteroid Sample-return Spacecraft)は小惑星イトカワに2度のタッチダウンを行った。イトカワの表面は岩が多く、その着陸地点は非常に限定された。そのような極めて高精度な航法を実現するためにはやぶさの降下フェーズではGCP(Ground Control Point)-NAVと呼ばれる航法ツールが用いられた。GCP-NAVは事前観測によって得られたイトカワのモデルと降下時に撮像された画像上のイトカワとを比較し、探査機の位置を推定するものである。このGCP-NAVの特徴として画像とモデルとの比較を地上局のオペレータが行った点が挙げられる。イトカワの自転による太陽角が変化するような状況下においても人間は画像上から岩などの特徴点を抽出する能力が高いため、この手法は高精度かつロバスト性に優れていた。しかしながらこの手法では画像を1度地上局に送り、推定結果を探査機に送り返す必要があるため電波の往復時間による遅れが問題として挙げられていた。本研究ではこの遅れの問題を解決するために位置推定の作業を機上で行うことを目的として、自律的な推定手法を考案し、はやぶさ降下時に得られたデータを用いてシミュレーションを行いその有効性を検証した。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"This paper discussed the new optical navigation method for the landing mission of spacecraft. In November 2005, Hayabusa (MUSES-C: Asteroid Sample-return Spacecraft) spacecraft touched down the asteroid 'Itokawa' twice. To navigate the spacecraft to the target point, new navigation software called 'GCP (Ground Control Point)-NAV' was devised. GCP-NAV enabled high accurate position estimation of the spacecraft using the images which were taken at decent phase and geometrical model of Itokawa. In this method, operators at ground station estimated the position. Estimation by man enabled high accuracy and robustness. However there was problem of the delay caused by round trip time of radio wave between the earth and the asteroid, because the images for estimation need to be sent to the ground station. In this paper, we make the navigation process autonomously for real time control.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0063718033","subitem_description_type":"Other"}]},"item_5_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"宇宙航空研究開発機構宇宙科学研究本部"}]},"item_5_publisher_9":{"attribute_name":"出版者（英）","attribute_value_mlt":[{"subitem_publisher":"Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA/ISAS)"}]},"item_5_text_6":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"東京大学"},{"subitem_text_value":"宇宙航空研究開発機構 宇宙科学研究本部"},{"subitem_text_value":"宇宙航空研究開発機構 宇宙科学研究本部"},{"subitem_text_value":"NEC航空宇宙システム"},{"subitem_text_value":"NEC航空宇宙システム"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"University of Tokyo"},{"subitem_text_language":"en","subitem_text_value":"Japan Aerospace Exploration Agency Institute of Space and Astronautical Science"},{"subitem_text_language":"en","subitem_text_value":"Japan Aerospace Exploration Agency Institute of Space and Astronautical Science"},{"subitem_text_language":"en","subitem_text_value":"NEC Aerospace Systems Ltd."},{"subitem_text_language":"en","subitem_text_value":"NEC Aerospace Systems Ltd."}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"metadata only access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_14cb"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"岡田, 俊輔"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"森, 治"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"川口, 淳一郎"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"白川, 健一"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"小湊, 隆"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Okada, Shunsuke","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Mori, Osamu","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kawaguchi, Junichiro","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Shirakawa, Kenichi","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kominato, Takashi","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"自律航法","subitem_subject_scheme":"Other"},{"subitem_subject":"タッチダウン","subitem_subject_scheme":"Other"},{"subitem_subject":"地形追従","subitem_subject_scheme":"Other"},{"subitem_subject":"航法","subitem_subject_scheme":"Other"},{"subitem_subject":"小惑星","subitem_subject_scheme":"Other"},{"subitem_subject":"着陸","subitem_subject_scheme":"Other"},{"subitem_subject":"はやぶさ","subitem_subject_scheme":"Other"},{"subitem_subject":"MUSES-C","subitem_subject_scheme":"Other"},{"subitem_subject":"小惑星探査機","subitem_subject_scheme":"Other"},{"subitem_subject":"イトカワ","subitem_subject_scheme":"Other"},{"subitem_subject":"GCP-NAV","subitem_subject_scheme":"Other"},{"subitem_subject":"ランドマーク","subitem_subject_scheme":"Other"},{"subitem_subject":"特徴抽出","subitem_subject_scheme":"Other"},{"subitem_subject":"マッチング","subitem_subject_scheme":"Other"},{"subitem_subject":"シミュレーション","subitem_subject_scheme":"Other"},{"subitem_subject":"autonomous navigation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"touchdown","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"terrain following","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"navigation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"asteroid","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"landing","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Hayabusa","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"MUSES-C","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Asteroid Sample-return Spacecraft","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Itokawa","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"GCP-NAV","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"landmark","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"feature extraction","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"matching","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"simulation","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"conference paper","resourceuri":"http://purl.org/coar/resource_type/c_5794"}]},"item_title":"Autonomous optical navigation for landing on target point","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Autonomous optical navigation for landing on target point","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1556","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7470","relation_version_is_last":true,"title":["Autonomous optical navigation for landing on target point"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:39:02.329976+00:00"}