Space debris or failed satellites often spin around their main inertial axis. Despite their stable state, measurement of their motion state is more difficult than that of a three-axis stable target. Difficulties mainly involve loss of feature points, scale changes and rotation changes in a complex light field environment, and those caused by periodic entry and exit of the target observation surface, as well as increase of cumulative errors and non-convergence of the calculated position and attitude resulted from long-term continuous observation. An optimized target feature database is constructed to turn the matching of the front and back frames in the traditional measurement method into the matching and optimization of the feature points of the current frame and the feature database. In this way, even if an error occurs in the middle process frame, the correct position of the subsequent image frame can still be tracked fairly well. The differential perturbation equation of the pose vector in the Lie algebra space is established to obtain the residual objective function of the measured and estimated values. Based on the maximum posterior probability of the Bayes' rule and the pair-finger transformation rule of Lie group and Lie algebra, the optimal solution of the pose vector is obtained, thereby solving the non-optimizable problem in the Lie group space due to the non-additivity of the pose transformation matrix, and improving the measurement accuracy of the system in the continuous measurement process. Experimental results show that the unoptimized measurement method cannot guarantee effective measurement of the entire rotation cycle, and that increasing the pose optimization process significantly extends the time of continuous stable measurement. For targets with spin motion of 12 (°)/s, the measurement error of the stable segment is within 2°, and that of the rotation angular velocity is 0.12 (°)/s.
LIU Zongming
,
MU Jinzhen
,
ZHANG Shuo
,
DU Xuan
,
CAO Shuqing
,
ZHANG Yu
. Visual feature tracking and pose measurement for slow rotating failure satellites[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021
, 42(1)
: 524163
-524163
.
DOI: 10.7527/S1000-6893.2020.24163
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