基于3D Zernike矩的巡检器与空间站的相对导航算法

doi:10.7527/S1000-6893.2020.24298

Abstract

Abstract: Taking the space station surface as "special terrain", this paper proposes a relative navigation algorithm based on large spacecraft surface inspection. Firstly, the TOF (Time of Flight) camera on the free-flying robot is employed to measure the local point cloud data, regarded as a real-time map, on the surface of the space station. The priori point cloud data on the space station surface is regarded as the reference map. Then the one-to-one correspondence between the 3D Zernike moments and the three-dimensional terrain is used to convert the three-dimensional terrain matching into the feature vector matching based on the 3D Zernike moments. On this basis, the relative position and relative attitude between the real-time map and the reference map are solved to determine the relative navigation parameters between the two spacecraft, and the main factors influencing the matching accuracy and speed are analyzed through experiments. Finally, the relative navigation parameters obtained via terrain matching and the inertial system are fused under the framework of the extended Kalman filter to estimate the relative position and relative attitude between the free-flying robot and the space station. The experimental results show that the estimation accuracy of the relative position is better than 0.002 m, and accuracy of the relative attitude is better than 0.1°.

Key words: large spacecraft, relative navigation, TOF (Time of Flight) camera, 3D Zernike moments, Extended Kalman Filter (EKF)

CLC Number:

V448.22

WANG Run, YU Feng, ZHOU Shibing, LIU Fangwu. Algorithm for relative navigation between free-flying robots and space station based on 3D Zernike moments[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(2): 324298-324298.

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Algorithm for relative navigation between free-flying robots and space station based on 3D Zernike moments

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