摘要
基于双目视觉系统提出了一种适于交会对接最后阶段的近距离绕飞的相对状态自主确定方法。用修正罗德里格参数(MRP)描述姿态,给出了追踪器与目标器间的相对姿态运动学与动力学方程,以及相对运动方程,根据双目视觉系统的小孔成像原理建立了双目系统的测量数学模型,由扩展卡尔曼滤波(EKF)获得两航天器的相对位姿及其变化率。仿真结果表明该法可行。
Based on binocular vision system, a relative states autonomous determination algorithm for the close range flying phase of spacecraft rendezvous and docking was developed in this paper. With the modified Rodrigues parameter as attitude variable, the kinematics and dynamic equations of relative attitude and relative motion were established. The mathematical model of binocular vision system was set up. The relative position and attitude as well as their changing rate of two spacecraft using extended Kalman filtering were obtained. The simulation results showed that the proposed algorithm was valid.
出处
《上海航天》
2010年第2期9-13,28,共6页
Aerospace Shanghai
关键词
双目视觉
交会对接
相对状态自主确定
修正罗德里格参数
扩展卡尔曼滤波
Binocular vision system
Rendezvous and docking
Relative states autonomous determination
Modified Rodrigues parameter
Extended Kalman filter
