航天器相对位姿参数光学测量解析算法

Closed-Form Method for Relative Pose Parameters of Spacecraft Based on Optical Measurement

研究了利用4个非共面特征光标和单光学测量敏感器的测量方法。基于比例正交投影近似假设,简化了光学成像数学模型,以解析的形式给出了航天器间相对位姿参数(相对位置和姿态),并对解析解进行修正。最后,对该算法进行数学仿真,仿真结果表明该算法简单可靠,能够满足航天器相对位姿确定精度和实时计算要求。

By using four non-coplanar reference points and an optical image sensor, this paper investigates the optical measurement method. Based on the assumption of scaled orthographic projection, the mathematical model of optical imaging is simplified by representing the relative attitude using quaternion. Then a closed-form solution is derived, and correct terms are added to obtain more accurate estimates for the pose parameters. In the last, the solution has been validated by using mathematical simulation, and simulation results show that this solution is simple and effective and the proposed solution is more suitable in on-board real time computation.