基于对偶数的航天器多特征融合相对导航算法

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基于对偶数的航天器多特征融合相对导航算法

王剑颖, 梁海朝, 孙兆伟, 张世杰

哈尔滨工业大学卫星技术研究所, 黑龙江哈尔滨 150080

收稿日期:2011-11-09 修回日期:2012-02-14 出版日期:2012-10-25 发布日期:2012-10-25
通讯作者: 孙兆伟 E-mail:sunzhaowei@vip.sina.com
基金资助:
国家自然科学基金(60704020);高等学校博士学科点专项科研基金(20070213055)

A Multi-cue-based Relative Navigation Algorithm for Spacecraft via Dual Number Representation

WANG Jianying, LIANG Haizhao, SUN Zhaowei, ZHANG Shijie

Research Center of Satellite Technology, Harbin Institute of Technology, Harbin 150080, China

Received:2011-11-09 Revised:2012-02-14 Online:2012-10-25 Published:2012-10-25
Supported by:
National Natural Science Foundation of China (60704020); Research Fund for the Doctoral Program of Higher Education of China (20070213055)

摘要/Abstract

摘要： 针对基于视觉的航天器相对导航问题,利用对偶数推导并给出了航天器相对耦合动力学方程,该方程一体化描述了追踪航天器相对于目标航天器的姿态运动和轨道运动,且考虑了由非质心点引起的相对姿态与相对轨道之间的耦合影响。在对偶代数的框架内,统一描述了目标航天器上的特征点和特征线,并基于特征点、线在像平面的投影建立了多特征融合的单目视觉测量模型。最后通过对系统状态方程以及测量方程的线性化,应用迭代扩展卡尔曼滤波(IEKF)算法对非质心点的相对运动状态进行了估计。仿真结果表明,本文的算法能够对航天器非质心点的相对运动状态进行较高精度的估计。

关键词: 对偶数, 耦合动力学, 状态估计, 视觉测量, 卡尔曼滤波

Abstract: A vision-based relative navigation algorithm for spacecraft is addressed in this paper. Based on the dual number, a relative coupled dynamic equation is derived which can describe both the rotational motion and the translational motion of the chaser spacecraft relative to the target spacecraft, and the effect of rotation-translation coupling due to the point deviating from the center of the mass of the spacecraft. In the dual algebra, the feature lines and points are described uniformly. A multi-cue-based measurement model is proposed using the 2-D images of the feature lines and points fixed on the target spacecraft, and the iterated extended Kalman filter (IEKF) is applied to estimate the relative state between the points off the center of the mass of the two spacecraft. Numerical simulations are performed to demonstrate that the proposed approach can provide an accurate estimation of the relative position and attitude of points deviating from the center of the mass of the spacecraft.

Key words: dual quaternion, coupled dynamics, state estimation, vision measurement, Kalman filter

中图分类号:

V448.2

王剑颖, 梁海朝, 孙兆伟, 张世杰. 基于对偶数的航天器多特征融合相对导航算法[J]. 航空学报, 2012, 33(10): 1881-1892.

WANG Jianying, LIANG Haizhao, SUN Zhaowei, ZHANG Shijie. A Multi-cue-based Relative Navigation Algorithm for Spacecraft via Dual Number Representation[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2012, 33(10): 1881-1892.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

基于对偶数的航天器多特征融合相对导航算法

A Multi-cue-based Relative Navigation Algorithm for Spacecraft via Dual Number Representation

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