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为了实现对空间失效卫星、空间碎片等非合作目标,尤其是具有自旋运动特性的目标进行在轨服务或者离轨清除,需要精确完成追踪飞行器与目标飞行器之间的相对姿态测量。首先,以逆深度参数化表示相机在世界坐标系下的坐标值、高低角、方位角和深度信息,可以有效解决小视差情况下的单目视觉姿态估计。其次,建立了相机相对于非合作目标的运动模型和测量模型。最后,基于单点随机抽样和扩展卡尔曼滤波实现了相机和目标之间的相对运动姿态估计。实验结果表明:对于三轴稳定目标,接近过程中姿态测量精度约为0.5°;对于匀速慢旋目标,相对角度误差约为3.5%,平均角速度误差约为0.1°/s。可以满足工程上空间非合作目标相对姿态测量的使用需求。
In order to realize on-orbit service or off-track clearance for non-cooperative targets, such as sporadic satellites and space debris, especially those with spin-moving features, it is necessary to accurately measure the relative attitude between the tracking aircraft and the target aircraft. First, the monocular visual attitude estimation in the case of small parallax can be effectively solved by representing the camera coordinate values, elevation angles, azimuths and depths in the world coordinate system with inverse depth parameterization. Secondly, the motion model and the measurement model of the camera relative to the non-cooperative target are established. Finally, based on the single-point random sampling and extended Kalman filter, the relative motion between the camera and the target is estimated. The experimental results show that the attitude measurement accuracy is about 0.5 ° for the three-axis stabilization target and 3.5% for the uniform slow-rotation target, and the average angular velocity error is about 0.1 ° / s. Which can meet the usage requirements of relative attitude measurement in non-cooperative space in engineering.