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
In this paper,a method combining perspective-n-point(PnP) and novel iteration algorithm is developed to measure the pose of a target in high precision for Tele-LightSaber game.The PnP algorithm is used to obtain a rou...In this paper,a method combining perspective-n-point(PnP) and novel iteration algorithm is developed to measure the pose of a target in high precision for Tele-LightSaber game.The PnP algorithm is used to obtain a rough pose,which is taken as the initial value of the iteration algorithm.The iteration algorithm utilizes the unit quaternions to represent the rotations.Then the result is optimized with Kalman filter.Considering the real-time and accuracy of the pose measurement,a fast feature extraction algorithm including object location,edge detection and corner detection is adopted to get the corners in high precision.The experiments and results verify the effectiveness of the proposed method.展开更多
基金Supported by the National Natural Science Foundation of China(60974107)the Research Foundation of Nanjing University of Aeronautics and Astronautics(2010219)~~
文摘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.
基金Supported by the National High Technology Research and Development Programme of China(No.2012AA041403)the National Natural Science Foundation of China(No.60905061)the National Natural Science Foundation of Tianjin(No.08JCYBJC12700)
文摘In this paper,a method combining perspective-n-point(PnP) and novel iteration algorithm is developed to measure the pose of a target in high precision for Tele-LightSaber game.The PnP algorithm is used to obtain a rough pose,which is taken as the initial value of the iteration algorithm.The iteration algorithm utilizes the unit quaternions to represent the rotations.Then the result is optimized with Kalman filter.Considering the real-time and accuracy of the pose measurement,a fast feature extraction algorithm including object location,edge detection and corner detection is adopted to get the corners in high precision.The experiments and results verify the effectiveness of the proposed method.
