Planetary landing optical navigation multi-type feature fusion pose estimation method

The invention discloses a planet landing optical navigation multi-type feature fusion pose estimation method, and belongs to the technical field of deep space exploration. The implementation method comprises the following steps: respectively establishing point feature, straight line feature and quadratic curve feature observation models; performing homogeneous coordinate transformation on the point feature observation model, constructing a point feature position absolute pose estimation equation, and performing homography transformation on the point feature observation model to construct a point feature relative pose estimation equation; constructing a linear feature absolute pose estimation equation and a linear feature relative pose estimation equation by using a linear feature observation model; constructing a quadratic curve feature absolute pose estimation equation and a quadratic curve feature relative pose estimation equation by using a quadratic curve feature observation model; and respectively constr