空间航天器交会对接位姿精度估测研究

The Estimation and Filtering of Position and Pose Based on Genetic Algorithm and Adaptive Algorithm

针对当前交会对接领域非合作位姿估测精度普遍不高及受空间条件限制的问题,提出了一种双目视觉的智能高精度位姿估测算法。对系统进行建模,设计遗传TRIAD算法对平移位姿进行初步估测,得相对位置及相对速度,并设计改进型KALMAN滤波器,对初步估测结果再滤波。给出了遗传TRIAD算法与改进型KALMAN滤波算法的设计过程并进行仿真,算法跟踪速度快,鲁棒性强。仿真证明了算法设计的优越性,能有效提高非合作交会对接中位姿估测的精度。

To realize the non cooperative spacecraft＇s navigation with high precision in the process of rendezvous and docking, the estimation algorithm with intelligence and high precision basing on binocular vision was put forward to calculate the pose and position of the spacecraft. The system was modeled. Genetic TRIAD algorithm was designed to for preliminary estimation of translational pose and position to obtain the relative position and velocity. An improved Kalman filter was designed to filter the preliminary results. The genetic TRIAD algorithm and improved KAL- MAN filtering algorithm were described for pose estimation, and proved with fast tracking speed as well as robustness. The simulation proves the superiority of the algorithm which can effectively improve the estimation accuracy of non cooperative rendezvous and docking.