基于星箭对接环同心圆结构的卫星姿态估计方法

Satellite Pose Estimation Method Based on Concentric Circle Structure of Docking Ring

针对基于星箭对接环单圆特征进行姿态估计具有二值性的问题,文章根据空间同心圆环的代数约束关系求解出空间圆环法向量,从而利用单一的星箭对接环结构,计算出目标卫星与追踪卫星之间的相对姿态。仿真试验计算了在不同测量距离及噪声情况下,星箭对接环定姿的误差,并进行分析,实现了在不依靠额外测量信息的情况下,利用单目视觉系统独立对圆心未知、半径未知的星箭对接圆环平面法向量求解,并得到目标卫星相对于跟踪卫星的姿态角,从而为空间非合作目标的姿态估计提供参考。

Using single circle feature of docking ring to estimate pose of satellite has two solutions,which cannot be easily applied to practical applications.In this paper,the docking ring is treated as a concentric structure composed of inner and outer rings,so the normal vector of the spatial ring can be resolved according to the algebraic constraints of the concentric circles.Then the attitude of target satellite relate to tracking satellite can be determined.Several groups of simulation experiments are carried out to calculate and analyze the pose estimation error with different measuring distances and noise levels.The monocular vision-based pose estimation of the docking ring with unknown diameter and uncertain center is achieved and verified without any extra measurement information.The result can provide the support for pose estimation of space non-cooperative object.