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DUAL QUATERNION CURVE INTERPOLATION ALGORITHM FOR FORMATION SATELLITES 被引量:1
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作者 李静 王惠南 刘海颖 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 2012年第1期90-95,共6页
The traditional algorithms for formation flying satellites treat the satellite position and attitude sepa- rately. A novel algorithm combining satellite attitude with position is proposed. The principal satellite traj... The traditional algorithms for formation flying satellites treat the satellite position and attitude sepa- rately. A novel algorithm combining satellite attitude with position is proposed. The principal satellite trajectory is obtained by dual quaternion interpolation, then the relative position and attitude of the deputy satellite are ob- tained by dual quaternion modeling on the principal satellite. Through above process, relative position and atti- tude are unified. Compared with the orbital parameter and the quaternion methods, the simulation result proves that the algorithm can unify position and attitude, and satisfy the precision requirement of formation flying satel- lites. 展开更多
关键词 formation satellites dual quaternion interpolation algorithm relative position and attitude
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Standard Dual Quaternion Optimization and Its Applications in Hand-Eye Calibration and SLAM
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作者 Liqun Qi 《Communications on Applied Mathematics and Computation》 EI 2023年第4期1469-1483,共15页
Several common dual quaternion functions,such as the power function,the magnitude function,the 2-norm function,and the kth largest eigenvalue of a dual quaternion Hermitian matrix,are standard dual quaternion function... Several common dual quaternion functions,such as the power function,the magnitude function,the 2-norm function,and the kth largest eigenvalue of a dual quaternion Hermitian matrix,are standard dual quaternion functions,i.e.,the standard parts of their function values depend upon only the standard parts of their dual quaternion variables.Furthermore,the sum,product,minimum,maximum,and composite functions of two standard dual functions,the logarithm and the exponential of standard unit dual quaternion functions,are still standard dual quaternion functions.On the other hand,the dual quaternion optimization problem,where objective and constraint function values are dual numbers but variables are dual quaternions,naturally arises from applications.We show that to solve an equality constrained dual quaternion optimization(EQDQO)problem,we only need to solve two quaternion optimization problems.If the involved dual quaternion functions are all standard,the optimization problem is called a standard dual quaternion optimization problem,and some better results hold.Then,we show that the dual quaternion optimization problems arising from the hand-eye calibration problem and the simultaneous localization and mapping(SLAM)problem are equality constrained standard dual quaternion optimization problems. 展开更多
关键词 Standard dual quaternion functions dual quaternion optimization quaternion optimization Hand-eye calibration Simultaneous localization and mapping(SLAM)
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Kinematic Control of Free Rigid Bodies Using Dual Quaternions 被引量:8
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作者 Da-Peng Han Qing Wei Ze-Xiang Li 《International Journal of Automation and computing》 EI 2008年第3期319-324,共6页
This paper proposes a new type of control laws for free rigid bodies. The start point is the dual quaternion and its characteristics. The logarithm of a dual quaternion is defined, based on which kinematic control law... This paper proposes a new type of control laws for free rigid bodies. The start point is the dual quaternion and its characteristics. The logarithm of a dual quaternion is defined, based on which kinematic control laws can be developed. Global exponential convergence is achieved using logarithmic feedback via a generalized proportional control law, and an appropriate Lyapunov function is constructed to prove the stability. Both the regulation and tracking problems are tackled. Omnidirectional control is discussed as a case study. As the control laws can handle the interconnection between the rotation and translation of a rigid body, they are shown to be more applicable than the conventional method. 展开更多
关键词 Kinematic control dual quaternion omnidirectional control proportional control
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Dual Quaternions and Dual Quaternion Vectors 被引量:4
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作者 Liqun Qi Chen Ling Hong Yan 《Communications on Applied Mathematics and Computation》 2022年第4期1494-1508,共15页
We introduce a total order and an absolute value function for dual numbers.The absolute value function of dual numbers takes dual number values,and has properties similar to those of the absolute value function of rea... We introduce a total order and an absolute value function for dual numbers.The absolute value function of dual numbers takes dual number values,and has properties similar to those of the absolute value function of real numbers.We define the magnitude of a dual quaternion,as a dual number.Based upon these,we extend 1-norm,co-norm,and 2-norm to dual quaternion vectors. 展开更多
关键词 dual number Absolute value function dual quaternion MAGNITUDE NORM
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Inverse kinematics of a heavy duty manipulator with 6-DOF based on dual quaternion 被引量:7
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作者 王恒升 占德友 +1 位作者 黄平伦 陈伟锋 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第7期2568-2577,共10页
An iterative method is introduced successfully to solve the inverse kinematics of a 6-DOF manipulator of a tunnel drilling rig based on dual quaternion, which is difficult to get the solution by Denavit-Hartenberg(D-H... An iterative method is introduced successfully to solve the inverse kinematics of a 6-DOF manipulator of a tunnel drilling rig based on dual quaternion, which is difficult to get the solution by Denavit-Hartenberg(D-H) based methods. By the intuitive expression of dual quaternion to the orientation of rigid body, the coordinate frames assigned to each joint are established all in the same orientation, which does not need to use the D-H procedure. The compact and simple form of kinematic equations, consisting of position equations and orientation equations, is also the consequence of dual quaternion calculations. The iterative process is basically of two steps which are related to solving the position equations and orientation equations correspondingly. First, assume an initial value of the iterative variable; then, the position equations can be solved because of the reduced number of unknown variables in the position equations and the orientation equations can be solved by applying the solution from the position equations, which obtains an updated value for the iterative variable; finally, repeat the procedure by using the updated iterative variable to the position equations till the prescribed accuracy is obtained. The method proposed has a clear geometric meaning, and the algorithm is simple and direct. Simulation for 100 poses of the end frame shows that the average running time of inverse kinematics calculation for each demanded pose of end-effector is 7.2 ms on an ordinary laptop, which is good enough for practical use. The iteration counts 2-4 cycles generally, which is a quick convergence. The method proposed here has been successfully used in the project of automating a hydraulic rig. 展开更多
关键词 heavy-duty manipulator dual quaternion robotic kinematics inverse kinematics(IK) iterative algorithm tunnel drilling rig
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Integrated modeling of spacecraft relative motion dynamics using dual quaternion 被引量:1
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作者 PENG Xuan SHI Xiaoping GONG Yupeng 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2018年第2期367-377,共11页
To realize high accurate control of relative position and attitude between two spacecrafts, the coupling between position and attitude must be fully considered and a more precise model should be established. This pape... To realize high accurate control of relative position and attitude between two spacecrafts, the coupling between position and attitude must be fully considered and a more precise model should be established. This paper breaks the traditional divide and conquer idea, and uses a mathematical tool, namely dual quaternion to establish the integrated 6 degree-of-freedom(6-DOF) model of relative position and attitude, which describes the coupled relative motion in a compact and efficient form and needs less information of the target. Considering the complex operation rules and the unclarity of the current relative motion model in dual quaternion, necessary mathematical foundations are given at first, followed by clear and detailed modeling process and analysis. Finally a generalized proportion-derivative(PD) controller law is designed. The simulation results show that based on the integrated model established by dual quaternion, this control law can achieve a high control accuracy of relative motion. 展开更多
关键词 relative motion dual quaternion position and attitude coupling integrated modeling
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Accuracy Analysis on Bundle Adjustment of Remote Sensing Images Based on Dual Quaternion 被引量:1
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作者 盛庆红 费利佳 +2 位作者 柳建锋 陈姝文 王惠南 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2015年第5期523-529,共7页
A bundle adjustment method of remote sensing images based on dual quaternion is presented,which conducted the uniform disposal corresponding location and attitude of sequence images by the dual quaternion.The constrai... A bundle adjustment method of remote sensing images based on dual quaternion is presented,which conducted the uniform disposal corresponding location and attitude of sequence images by the dual quaternion.The constraint relationship of image itself and sequence images is constructed to compensate the systematic errors.The feasibility of this method used in bundle adjustment is theoretically tested by the analysis of the structural characteristics of error equation and normal equation based on dual quaternion.Different distributions of control points and stepwise regression analysis are introduced into the experiment for RC30 image.The results show that the adjustment accuracy can achieve 0.2min plane and 1min elevation.As a result,this method provides a new technique for geometric location problem of remote sensing images. 展开更多
关键词 photogrammetry bundle adjustment geometric correction dual quaternion geometric imaging model
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A study on dual quaternion based cooperative relative navigation of multiple UAVs with monocular vision-inertial integration
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作者 Byungjin LEE Sangkyung SUNG 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2024年第11期335-354,共20页
This paper addresses a cooperative relative navigation problem for multiple aerial agents,relying on visual tracking information between vehicles.The research aims to investigate a sensor fusion architecture and algor... This paper addresses a cooperative relative navigation problem for multiple aerial agents,relying on visual tracking information between vehicles.The research aims to investigate a sensor fusion architecture and algorithm that leverages partially available absolute navigation knowledge while exploiting collaborative visual interaction between vehicles in mission flight areas,where satellite navigation-denied regions are irregularly located.To achieve this,the paper introduces a new approach to defining the relative poses of cameras and develops a corresponding process to secure the relative pose information.This contrasts with previous research,which simply linearized the relative pose information of aircraft cameras into navigation states defined in an absolute coordinate system.Specifically,the target pose in relative navigation is defined,and the pose of the camera and feature points are directly derived using dual quaternion representation,which compactly represents both translation and rotation.Furthermore,a mathematical model for the relative pose of the camera is derived through the dual quaternion framework,enabling an explicit pose formulation of relative navigation.The study investigates navigation performance in typical mission flight scenarios using an in-house high-fidelity simulator and quantitatively highlights the contributions of the proposed scheme by comparing the navigation error performance.Consequently,the proposed method demonstrates to have navigation accuracy in decimeter level even in GNSS-denied environments and an improved 3D Root Mean Square(RMS)error by30%smaller than the conventional absolute navigation framework. 展开更多
关键词 Cooperative navigation Relative pose dual quaternion CAMERA High-fidelity simulator
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Comparison of strapdown inertial navigation algorithm based on rotation vector and dual quaternion 被引量:9
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作者 Wang Zhenhuan Chen Xijun Zeng Qingshuang 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2013年第2期442-448,共7页
For the navigation algorithm of the strapdown inertial navigation system, by comparing to the equations of the dual quaternion and quaternion, the superiority of the attitude algorithm based on dual quaternion over th... For the navigation algorithm of the strapdown inertial navigation system, by comparing to the equations of the dual quaternion and quaternion, the superiority of the attitude algorithm based on dual quaternion over the ones based on rotation vector in accuracy is analyzed in the case of the rotation of navigation frame. By comparing the update algorithm of the gravitational velocity in dual quaternion solution with the compensation algorithm of the harmful acceleration in traditional velocity solution, the accuracy advantage of the gravitational velocity based on dual quaternion is addressed. In view of the idea of the attitude and velocity algorithm based on dual quaternion, an improved navigation algorithm is proposed, which is as much as the rotation vector algorithm in computational complexity. According to this method, the attitude quaternion does not require compensating as the navigation frame rotates. In order to verify the correctness of the theoretical analysis, simulations are carried out utilizing the software, and the simulation results show that the accuracy of the improved algorithm is approximately equal to the dual quaternion algorithm. 展开更多
关键词 dual quaternion Inertial navigation system Navigation algorithm quaternion Rotation vector
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Dual-quaternion-based modeling and control for motion tracking of a tumbling target 被引量:1
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作者 PENG Xuan SHI Xiaoping GONG Yupeng 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2019年第5期985-994,共10页
This paper investigates the problem of controlling a chasing spacecraft(chaser)to track and rendezvous with an uncontrolled target.Based on the actual situation,the torque-free motion of an axisymmetric prolate rigid ... This paper investigates the problem of controlling a chasing spacecraft(chaser)to track and rendezvous with an uncontrolled target.Based on the actual situation,the torque-free motion of an axisymmetric prolate rigid body is employed to represent the short-term attitude motion of the tumbling target.By taking advantage of the dual quaternion’s compact and efficient description of the general rigid motion,the coupled and integrated model of the 6-degree-of-freedom(6-DOF)relative motion between the chaser and the tumbling target is derived in the chaser’s body fixed frame after taking full consideration of coordinate transformation.Based on the logarithm of dual quaternion,a sliding mode control(SMC)law based on the exponential reaching law and the continuous relay function is brought forward to address the problem of synchronization control of the 6-DOF relative motion.Simulation results illustrate the effectiveness of the proposed method. 展开更多
关键词 TUMBLING TARGET dual-quaternion coupled dynamics RELATIVE motion
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基于对偶四元数的多体系统动力学建模和控制 被引量:1
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作者 王培栋 王天舒 《力学学报》 EI CAS CSCD 北大核心 2024年第7期2091-2102,共12页
空间机械臂的在轨作业是当前空间在轨服务中应用最为广泛的技术之一,然而,机械臂在操作过程中漂浮基座与臂体之间的位姿耦合效应极为显著,这给控制系统设计带来了新挑战.针对多刚体系统的位姿一体化建模与控制问题,文章改进了基于对偶... 空间机械臂的在轨作业是当前空间在轨服务中应用最为广泛的技术之一,然而,机械臂在操作过程中漂浮基座与臂体之间的位姿耦合效应极为显著,这给控制系统设计带来了新挑战.针对多刚体系统的位姿一体化建模与控制问题,文章改进了基于对偶四元数的位姿一体化建模和控制方法,使之可以应用于多刚体系统.该方法不仅能够精确描述复杂的力学关系,还能够在统一的数学框架中有效地处理位姿耦合问题,这为后续设计姿轨一体化的控制系统提供了极大的便利.首先,基于铰链模型建立了对偶四元数形式的铰链和臂体之间的速度和加速度递推关系,然后,利用铰链和臂体间力-力矩传递关系建立了递推形式的逆向动力学方程,为了便于控制系统设计与分析,随后推导建立了矩阵形式的位姿一体化的正向动力学方程.然后针对推进器和控制力矩陀螺讨论了具体的执行机构的动力学建模问题,并分别讨论了机械臂和漂浮基座的位姿一体化控制问题.最后,对一个6自由度机械臂和漂浮基座的组合体进行了动力学建模和控制仿真,动力学仿真的结果证明了所提动力学建模方法的正确性,控制仿真表明控制系统能较快地抵消机械臂运动对基座产生的干扰力和干扰力矩,证明了所提控制方法的有效性和可行性. 展开更多
关键词 多刚体动力学 对偶四元数 一体化控制 空间机械臂 漂浮基座
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一种基于UKF的矿井智能体相对导航算法
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作者 贾宝 孟福军 +2 位作者 侯岳 苏春耀 李克昭 《大地测量与地球动力学》 CSCD 北大核心 2024年第12期1299-1306,共8页
以对偶四元数为理论基础,引入非线性滤波UKF算法,构建矿井多智体视觉自主相对导航算法DQUKF,并建立适应矿井智能体外形特征及其工作环境的算法状态方程及观测方程,可对矿井智能体的相对位置、姿态进行动态估计及仿真。为验证和评价该算... 以对偶四元数为理论基础,引入非线性滤波UKF算法,构建矿井多智体视觉自主相对导航算法DQUKF,并建立适应矿井智能体外形特征及其工作环境的算法状态方程及观测方程,可对矿井智能体的相对位置、姿态进行动态估计及仿真。为验证和评价该算法的有效性,设计地面实物模拟实验场,结果表明,该算法能够提供较为精确的相对位姿信息,结论与仿真结果一致。 展开更多
关键词 矿井智能体 视觉相对导航 UKF 对偶四元数 动态估计
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输入参数优化的机器人手眼标定改进方法
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作者 侯阳阳 苏本磊 《西南民族大学学报(自然科学版)》 CAS 2024年第5期554-561,共8页
由于相机位姿误差以及机器人运动解算误差导致标定结果具有较大误差,为了提升机器人定位与抓取的精度,提出了一种具有误差补偿和图像校正的手眼标定方法.基于对偶四元数理论来描述螺旋运动,用奇异值分解法求解手眼变换矩阵.再通过对非... 由于相机位姿误差以及机器人运动解算误差导致标定结果具有较大误差,为了提升机器人定位与抓取的精度,提出了一种具有误差补偿和图像校正的手眼标定方法.基于对偶四元数理论来描述螺旋运动,用奇异值分解法求解手眼变换矩阵.再通过对非线性相机成像模型进行研究后最小化相机的重投影误差,得到优化后的相机外参,同时根据机器人运动学模型对机器人运动误差做补偿.最后搭建机器人单目视觉实验平台,将该方法与对偶四元数法和Tasi两步法进行对比分析,实验结果表明,该方法在XYZ三个方向上的坐标误差均值为0.46,标准差为0.25.在标定精度和稳定性上均优于其他两种方法,具有一定的理论实践意义. 展开更多
关键词 机器人 手眼标定 对偶四元数 图像校正 误差补偿
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基于对偶四元数法的Stewart平台运动学研究
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作者 荆学东 方义圣 崔贤亮 《应用技术学报》 2024年第1期72-76,共5页
作为一种多自由度并联机构,Stewart平台在工业自动化、飞行模拟及医疗设备等领域具有广阔应用前景。研究Stewart平台的运动学特性,并提供数学模型和解决方法,可以实现对其运动和位置的准确控制。基于6-UPS型Stewart并联机器人平台,引入... 作为一种多自由度并联机构,Stewart平台在工业自动化、飞行模拟及医疗设备等领域具有广阔应用前景。研究Stewart平台的运动学特性,并提供数学模型和解决方法,可以实现对其运动和位置的准确控制。基于6-UPS型Stewart并联机器人平台,引入了对偶四元数的概念,探讨了Stewart平台的运动学特性,提出了一种高效的并联机器人运动学求解算法。研究结果表明,在描述并联机器人的运动学中,对偶四元数法具有更简洁的表示形式和更少的用来表示刚体位姿的未知数个数,具有明显优势。 展开更多
关键词 STEWART平台 并联机器人 运动学 对偶四元数
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空间6R机器人位置反解的对偶四元数法 被引量:20
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作者 倪振松 廖启征 +1 位作者 魏世民 李瑞华 《机械工程学报》 EI CAS CSCD 北大核心 2009年第11期25-29,共5页
将对偶四元数的复指数形式引入到串联机械手位置逆解分析中,提出一种空间6R串联机械手位置逆解的新算法。采用复指数形式的四元数以及对偶四元数建立空间6R串联机械手位置逆解的封闭方程。通过对获得的四个位置约束方程构造Dixon结式,... 将对偶四元数的复指数形式引入到串联机械手位置逆解分析中,提出一种空间6R串联机械手位置逆解的新算法。采用复指数形式的四元数以及对偶四元数建立空间6R串联机械手位置逆解的封闭方程。通过对获得的四个位置约束方程构造Dixon结式,得到一个6×6的行列式等于零的矩阵,去掉其中相关的公因式,导出既无增根也无漏根的一元16次方程。通过实际计算,得出该机器人位置反解一元高次方程的次数为16且最多只有16组解的结论。通过一种串联机械手逆运动学分析为例进行求解验证,数字实例证明了该方法既无增根也无漏根。这种方法可达到在消元过程中自动消除机构结构参数变化或者轨迹规划过程中某些奇异位置造成的方程相关性,避免增根的产生。 展开更多
关键词 对偶四元数 迪克逊结式 6R机器人 逆运动学分析
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基于对偶四元数的航天器交会对接位姿视觉测量算法 被引量:20
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作者 丁尚文 王惠南 +1 位作者 刘海颖 冯成涛 《宇航学报》 EI CAS CSCD 北大核心 2009年第6期2145-2150,共6页
根据光学测量基本原理建立双目视觉测量模型,提出基于双目视觉的航天器间相对位姿的测量方法。利用对偶四元数,建立目标航天器的坐标系和追踪航天器上的摄像机坐标系之间的关系,构造出航天器交会对接位姿误差模型,通过使用拉格朗日求极... 根据光学测量基本原理建立双目视觉测量模型,提出基于双目视觉的航天器间相对位姿的测量方法。利用对偶四元数,建立目标航天器的坐标系和追踪航天器上的摄像机坐标系之间的关系,构造出航天器交会对接位姿误差模型,通过使用拉格朗日求极值的方法,解算出航天器间的相对位置和姿态。仿真结果表明该算法有效,能够满足航天器交会对接的测控要求。 展开更多
关键词 双目视觉 相对位姿 航天器 对偶四元数
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单目视觉下基于对偶四元数的卫星姿态的确定 被引量:11
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作者 左俊青 王惠南 +1 位作者 刘海颖 冯成涛 《中国惯性技术学报》 EI CSCD 2008年第5期577-581,共5页
在航天器姿态动力学和机器视觉理论基础上,提出一种新的卫星姿态确定的算法。单目相机作为观测设备,用对偶四元数以及几何透视投影法,将从星3D姿态参数转换为2D照片平面参数。最后,将表征坐标变换的对偶四元数中的位移和旋转分量以及运... 在航天器姿态动力学和机器视觉理论基础上,提出一种新的卫星姿态确定的算法。单目相机作为观测设备,用对偶四元数以及几何透视投影法,将从星3D姿态参数转换为2D照片平面参数。最后,将表征坐标变换的对偶四元数中的位移和旋转分量以及运动角速度和线速度作为状态量,2D坐标参数作为观测值,建立滤波器,得到了表示相对运动的对偶四元数的估计值。在30 s内的仿真结果证明了对偶四元数在表示刚体运动变换时的优越性,为从星姿态测量找到一个更有工程应用价值的方法。 展开更多
关键词 单目视觉 对偶四元数 姿态估计 卡尔曼滤波器
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基于对偶四元数的航姿系统姿态更新算法研究 被引量:12
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作者 夏琳琳 赵琳 +1 位作者 刘繁明 胡晓形 《系统仿真学报》 EI CAS CSCD 北大核心 2008年第2期276-280,共5页
以微小型捷联航姿参考系统为研究对象,建立基于对偶四元数的导航系统姿态更新解算参数模型。该方法区别于描述刚体纯旋转变换的四元数方法,将载体系与地理系之间坐标转换的旋转与平移过程进行统一、融合,通过建立最小方差目标方程,求解... 以微小型捷联航姿参考系统为研究对象,建立基于对偶四元数的导航系统姿态更新解算参数模型。该方法区别于描述刚体纯旋转变换的四元数方法,将载体系与地理系之间坐标转换的旋转与平移过程进行统一、融合,通过建立最小方差目标方程,求解最优的姿态更新矩阵。构建Kalman滤波方程,最终确定载体姿态,航向角实时信息。仿真表明,对偶四元数所建姿态四元数误差的均值与均方差均小于0.002。Kalman滤波器构造符合实际系统要求,在传感器测量精度有限的情况下,可使俯仰角、横滚角、航向角误差分别减小到0.1°,0.1°,0.2°。 展开更多
关键词 对偶四元数 姿态更新 刚体运动 航姿参考系统 KALMAN滤波
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无人机遥感影像镶嵌技术综述 被引量:21
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作者 朱锋 肖晖 魏亚男 《计算机工程与应用》 CSCD 2014年第15期38-41,共4页
无人机影像镶嵌是低空遥感数据处理系统中的一个重要内容,其目的是将序列无人机影像拼接成一幅具有地理坐标的影像。为了使该领域的研究人员对当前无人机影像镶嵌方法有较全面的了解,对各种无人机影像镶嵌方法进行了综述。多项式法、卡... 无人机影像镶嵌是低空遥感数据处理系统中的一个重要内容,其目的是将序列无人机影像拼接成一幅具有地理坐标的影像。为了使该领域的研究人员对当前无人机影像镶嵌方法有较全面的了解,对各种无人机影像镶嵌方法进行了综述。多项式法、卡尔曼滤波法、基于SfM点云匹配和传统空中三角测量法均需要地面控制点,而对偶四元数POS辅助空中三角测量方法无需或者只需少量地面控制点,将在无人机影像镶嵌领域有较为广阔的应用前景。 展开更多
关键词 无人机 影像镶嵌 空中三角测量 定位定向系统(POS) 对偶四元数
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一种挠性航天器的对偶四元数姿轨耦合控制方法 被引量:14
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作者 杨一岱 荆武兴 张召 《宇航学报》 EI CAS CSCD 北大核心 2016年第8期946-956,共11页
为解决复杂的挠性航天器的姿轨控制问题,对于挠性航天器的姿轨耦合动力学建模与控制展开研究。基于对偶四元数原理,推导给出一套挠性航天器的姿轨一体化动力学模型。此种模型能够紧凑描述航天器的轨道和姿态,且能够自动引入航天器平动... 为解决复杂的挠性航天器的姿轨控制问题,对于挠性航天器的姿轨耦合动力学建模与控制展开研究。基于对偶四元数原理,推导给出一套挠性航天器的姿轨一体化动力学模型。此种模型能够紧凑描述航天器的轨道和姿态,且能够自动引入航天器平动、转动与挠性附件振动三者之间的关联耦合作用。基于此模型设计了一种自适应位置姿态跟踪控制器,该控制器能够在航天器质量特性参数未知的情况下,对其位置和姿态进行轨迹跟踪控制,并使位置和姿态误差收敛。该自适应控制器还可对航天器上挠性附件对系统的耦合作用进行估计,进而在控制输出中对其进行补偿,提高卫星控制系统的稳定性。通过仿真对控制律进行校验,结果表明该控制律对挠性航天器控制效果良好,具有一定的工程应用参考价值。 展开更多
关键词 挠性航天器 对偶四元数 姿态动力学 自适应控制 姿轨耦合控制
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