Autonomous navigation and hazard-avoidance method based on sequential images for Mars soft landing

An autonomous navigation and hazard-avoidance method based on sequential images for Mars soft landing is presented in this paper. In this method, the lander is assumed to be equipped with only a monocular camera and an inertial measurement unit, and the up-south-east frame of the subsatellite point at initial time is built as the landing reference frame. Then, an implicit measurement model is derived from observations of features with unknown...