Dragonfly is scheduled to begin exploring Titan by 2034 using a series of multi-kilometer surface flights. This paper outlines the preliminary design of the navigation filter for the Dragonfly Mobility subsystem. The software architecture and filter formulation for lidar, visual odometry, pressure sensors, and redundant IMUs are described in detail. Special discussion is given to developments to achieve multi-kilometer surface flights, including optimizing sequential image baselines, modeling correlating image processing errors, and an efficient approximation to the Simultaneous Localization and Mapping (SLAM) problem.

翻译：蜻蜓号计划于2034年利用一系列多公里级地表飞行开始探索土卫六。本文概述了蜻蜓号移动子系统导航滤波器的初步设计，详细描述了激光雷达、视觉里程计、压力传感器及冗余惯性测量单元的软件架构与滤波器公式。特别讨论了为实现多公里级地表飞行而进行的研发工作，包括优化序列图像基线、关联图像处理误差建模，以及同步定位与地图构建（SLAM）问题的高效近似方法。