对偶四元数在航天器相对导航中的应用

Application of Dual Quaternion in Spacecraft Relative Navigation

为了提高航天器相对位置和姿态测量的实时性和准确性,提出一种利用对偶四元数位姿模型来求解航天器相对位姿的方法.该方法统一考虑目标航天器和追踪航天器本体坐标系间的相对旋转和平移,采用螺旋向量法更新对偶四元数.建立了相机测量模型来测量航天器的相对位置和姿态,并选择扩展的卡尔曼滤波来消除随机噪声对状态更新和测量过程的干扰.仿真结果表明该导航算法能满足航天器相对导航的精度要求,验证了该算法的可行性.

To improve accuracy and reM-time performance in relative positioning and measurement of attitude information meterage of spacecraft, a dual quaternion model is introduced. The method described combines relative rotation and translation between target spacecrafts and the spacecraft tracing coordinates. It uses a spiral vector method to calculate the renovated dual quaternion. A camera survey model is constructed to measure the relative position and attitude of the spacecraft. The extended Kalman filter （EKF） is used to eliminate noise jamming caused in the state updating and the measurement processes. Simulation results show that the navigation algorithm satisfies the precision requirements of spacecraft relative navigation.