Did Panaka know who Padme really was?

In Episode I, we see Panaka very concerned about landing on Tatooine, because the planet is controlled by the Hutts...

Later, when Qui-Gon is heading to the city, Panaka insists that he takes Padme with him. It would be very strange if he actually knew that:

But in Episode II, Padme's new bodyguard, Cap. Typho, knows about her decoy... Which led me thinking if Panaka did know it either before she revealed it... If he did, wasn't it very strange that he insisted that she went with Qui-Gon to explore an unknow planet?