基于普吕克直线的交会对接相对位姿确定算法

Plucker Linear Based Relative Position and Attitude Determination Algorithm for RVD

为了描述航天器交会对接中的相对位置和姿态测量信息,提出了结合特征线的双目视觉测量以及普吕克直线方程来进行航天器交会对接的相对位姿测量算法。传统算法中航天器的相对位姿是分开测量和计算的,普吕克直线方程则统一描述了两个航天器的相对位姿信息。首先采用双目视觉算法计算得到目标航天器中两条非共面直线在追踪航天器下的坐标值,然后根据普吕克直线方程得到这两条直线在两个坐标系下的相对位姿关系,最后通过采用奇异值分解的方法解算出两个航天器间的相对位姿信息。仿真结果表明该算法不仅实现了位置和姿态的统一测量,而且能够满足航天器交会对接相对位姿的测量要求,验证了该算法的科学合理性与解算快捷性。

In order to describe the relative position and attitude measurement information of RVD spacecraft, a combination method of binocular vision measurement and Plucker linear equation was proposed to determine the relative position and attitude parameters of RVD spacecraft. The relative position and attitude of spacecraft was separately measured and calculated in traditional algorithm, while, the Plucker linear equation jointly describes relative position and attitude information of the two spacecraft. At first, the binocular vision algorithm was used to calculate two non coplanar lines＇ coordinate value in tracking spacecraft. Then, the two lines＇ relative position and attitude relation in two coordinates calculated by Plucker linear equation was obtained. Finally, the relative position and attitude information of the two spacecraft was calculated by the singular value decomposition method. Simulation results show that the algorithm can not only jointly measure position and attitude, but also meet the measurement requirements of RVD spacecraft and verify the scientific rationality and calculation efficiency of the algorithm.