旋转非合作目标相对状态的解耦估计方法

针对在轨旋转非合作目标相对状态估计中关于几何结构及惯量参数先验信息未知的问题，提出一种以双目相机对目标特征点的投影作为测量值的解耦估计方法，实现旋转非合作目标相对状态的估计。首先，建立非合目标的动力学模型和目标特征点的运动模型；其次，为避免由目标特征点与目标质心相对位置不确定引起滤波性能降低的问题，建立相对特征的运动模型及投影模型，对旋转运动和平移运动进行解耦；最后，设计相应的滤波器对非合作目标的相对状态进行估计。仿真结果表明，提出的解耦估计方法能够有效地估计出非合作目标的相对状态。

A Decoupled Method for Estimating Relative State of Spinning Non Cooperative Target

Considering a spinning non-cooperative target on orbit without prior information about the geometrical structure and inertia parameters, a decoupled method is proposed for estimating the relative state using the feature points observed by a stereo camera. First of all, the dynamics of the non-cooperative and the kinematics of the feature points are described, respectively. Then, to overcome the performance degradation caused by the uncertainty of the feature points’ positions relative to the target’s center-of-mass, the motion and projection model of the relative feature are built to decouple the estimations of the rotational and translational motion. Finally, the filters are designed to estimate the relative state of the non-cooperative target. The simulation results demonstrate the validation and performance of the proposed method.