光学精密工程2017，Vol.25Issue(2)：451-459,9.DOI:10.3788/OPE.20172402.0451
非合作航天器逆深度参数化姿态估计
Inverse depth parameterized attitude estimation for non-cooperative spacecraft
摘要
Abstract
Purpose:to achieve on-orbit servicing or off-orbit removal of non-cooperative targets in space,such as inactive satellites,space debris,especially slowly rotating targets,accurate measurement of relative attitude between the tracking aircraft and target aircraft is necessary.Method:firstly,used inverse depth parameterization to represent the coordinate value,angular altitude,azimuth angle and depth information of the camera,which could effectively complete the monocular vision attitude estimation under small parallax error;secondly,established a motion model and measurement model of the camera relative to the non-cooperative target;finally,achieved the relative motion attitude estimation between the camera and target based on single candidate RANSAC and EKF.Results:for three-axes stable targets,the attitude measurement accuracy during the approaching process is approximately 0.5°;for slowly rotating targets (constant velocity),the relative angle error is about 3.5％,with an average angular velocity error of approximately 0.1°/s.All these parameters can meet the requirements for relative attitude measurements of engineering spatial non-cooperative targets.关键词
非合作目标/逆深度参数/姿态估计/EKF/RANSACKey words
non-cooperative target/inverse depth parameterization/attitude estimation/EKF/RANSAC分类
信息技术与安全科学引用本文复制引用
刘宗明,曹姝清,张宇,叶东..非合作航天器逆深度参数化姿态估计[J].光学精密工程,2017,25(2):451-459,9.基金项目
上海市青年科技启明星计划(No.16QB1401000) （No.16QB1401000）
