追踪与目标航天器相对位姿参数四元数的解析算法

中国机械工程 ›› 2013, Vol. 24 ›› Issue (12): 1655-1660.

追踪与目标航天器相对位姿参数四元数的解析算法

冯春;吴洪涛;陈柏;乔兵

南京航空航天大学,南京,210016

出版日期:2013-06-25 发布日期:2013-07-11
基金资助:
国家自然科学基金资助项目(51075209)
National Natural Science Foundation of China（No. 51075209）

Closed-Form Method for Relative Pose Parameters between Chaser and Target Spacecraft Based on Quaternion

Feng Chun;Wu Hongtao;Chen Bai;Qiao Bing

Nanjing University of Aeronautics and Astronautics,Nanjing,210016

Online:2013-06-25 Published:2013-07-11
Supported by:
National Natural Science Foundation of China（No. 51075209）

摘要/Abstract

摘要：

提出了利用5个非共面特征光点和单目视觉的航天器相对位置和姿态参数测量的解析算法。首先,给出测量系统的基本结构和特征点的配置形式;然后,以3个对称结构特征点为一组,将5个特征光点分为两组,利用四元数测量算法,分别得到单目视觉的航天器相对位姿参数的方程组,结合2个方程组获得了航天器相对位姿参数的解析解形式,并对解析解进行修正;最后,通过计算实例对解析算法进行数学
仿真,结果表明:该算法能够满足航天器相对位姿确定精度和实时计算要求。

关键词: 航天器, 交会对接, 姿态估计, 单目视觉, 四元数

Abstract:

By using five non-coplanar reference points and monocular vision,a closed-form method for relative pose parameters of spacecraft was proposed.Firstly,the measurement system and the configuration setting of points were introduced.Secondly,the five feature optical points were made into two groups,three symmetry structural points as one group.Two equation sets of relative pose parameters were obtained by quaternion, then a closed-form solution was derived,and correct terms were added to obtain more accurate estimations for the pose parameters.In the end,the solution was validated by using mathematical simulation,and simulation results show that the solution can satisfy with the demands for the accuracy of relative parameters between spacecrafts and the real-time computation.

Key words: spacecraft, rendezvous and docking, attitude estimation, monocular vision, quaternion

中图分类号:

TP242.62

冯春, 吴洪涛, 陈柏, 乔兵. 追踪与目标航天器相对位姿参数四元数的解析算法[J]. 中国机械工程, 2013, 24(12): 1655-1660.

FENG Chun, TUN Hong-Chao, CHEN Bai, JIAO Bing. Closed-Form Method for Relative Pose Parameters between Chaser and Target Spacecraft Based on Quaternion[J]. China Mechanical Engineering, 2013, 24(12): 1655-1660.

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