中国空间科学技术2019，Vol.39Issue(1)：1-10,10.DOI:10.16708／j.cnki.1000-758X.2019.0001
基于先验子图检测的失效航天器SLAM方法
SLAM method of f ailure spacecraf t based on prior submap det ecti ng
摘要
Abstract
The technology of estimating position and pose of spacecraft based on laser lidar is a research hotspot of on-orbit services.For the position and pose estimation of failure spacecraft , the technology of general graph-based optimization SLAM was applied to the research of noncooperative target in space.In order to solve the problem of accumulative error generated in the dynamic scene ,an improved SLAM algorithm based on detection of prior submap according to the characteristics of failure spacecraft was proposed .In this algorithm , laser lidar and inertia measurement unit were used to sample the point cloud data of failure spacecraft as well as the environment and the movement information of service spacecraft , to construct a relative pose graph of service scenario .Then the method of detecting prior submap was used to generate the constraints of discontinuous poses.At last ,the constraints information was used to optimize the result of pose graph.The simulation result shows that the method decreases the cumulative deviation and improves precision of relative position and pose estimation compared to general SLAM algorithm ,providing information for on-orbit tasks such as navigation and controlling.关键词
控制工程/航天器位姿/子图检测/SLAM/激光雷达/图优化Key words
control engineering/ spacecraft position and pose/submap detecting/simultaneous localization and mapping/laser lidar/graph optimization分类
航空航天引用本文复制引用
康国华,马云,乔思元,郭玉洁,金晨迪..基于先验子图检测的失效航天器SLAM方法[J].中国空间科学技术,2019,39(1):1-10,10.基金项目
空间智能控制技术重点实验室开放基金资助项目(ZDSYS-2017-01) （ZDSYS-2017-01）
中央高校基本科研业务费专项资金资助(No.NZ2016111) （No.NZ2016111）
