采用双目视觉的非合作空间目标相对导航与惯性参数辨识方法

针对面向在轨服务的非合作空间目标测量感知问题，提出了一种基于双目视觉的相对导航与惯性参数辨识方法。利用目标表面的特征点建立几何坐标系，并分别设计了姿态测量和相对导航滤波器，实现了目标姿态、角速度、轨道，质心位置与惯量比的高精度估计。在此基础上，通过黏附卫星与非合作目标形成组合体，利用相对导航算法获得的质心位置和惯量比在黏附前后的变化，实现了目标质量和转动惯量的辨识。数值仿真试验证明了算法的有效性。

Relative Navigation and Identification of Inertia Parameters of Non Cooperative Space Target Based on Stereo Vision

A new method to realize the relative navigation and identification of inertia parameters based on stereo vision is proposed to address the measurement and perception of a non cooperative spacecraft in an on orbit serving mission. The features points recognized by stereo vision are used to define a geometric coordinate system, based on which the filters for attitude measurement and relative navigation are designed to estimate the attitude, angular velocity, ratio of inertia, orbit and center of mass of the target. The mass and moment of inertia are then identified based on the difference of the ratio of inertia and position of center of mass of the target estimated through the relative navigation method before and after the combination with an adhesive satellite. The validity of the proposed method is verified through numerical simulation.