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针对基于视觉的航天器相对导航问题,利用对偶数推导并给出了航天器相对耦合动力学方程,该方程一体化描述了追踪航天器相对于目标航天器的姿态运动和轨道运动,且考虑了由非质心点引起的相对姿态与相对轨道之间的耦合影响。在对偶代数的框架内,统一描述了目标航天器上的特征点和特征线,并基于特征点、线在像平面的投影建立了多特征融合的单目视觉测量模型。最后通过对系统状态方程以及测量方程的线性化,应用迭代扩展卡尔曼滤波(IEKF)算法对非质心点的相对运动状态进行了估计。仿真结果表明,本文的算法能够对航天器非质心点的相对运动状态进行较高精度的估计。
Aiming at the problem of vision-based spacecraft relative navigation, the relative coupling dynamics of the spacecraft is derived and given by even numbers. The equation describes the attitude and orbit of the tracking spacecraft relative to the target spacecraft in a unified way. The influence of the coupling between the relative attitude caused by the non-centroid point and the relative orbit. In the framework of dual algebra, the feature points and feature lines of the target spacecraft are uniformly described. Based on the feature points and the projection of the line on the image plane, a multi-feature fusion monocular visual measurement model is established. Finally, through the linearization of the system state equation and the measurement equation, the relative motion state of the non-centroid point is estimated by iterative extended Kalman filter (IEKF) algorithm. Simulation results show that the proposed algorithm can estimate the relative motion of aero-space non-centroid points with high accuracy.