| 逼近段惯性/视觉组合相对导航算法 |
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| 引用本文： | 张力军,钱山,郭才发,张士峰.逼近段惯性/视觉组合相对导航算法[J].上海航天,2011,28(3):8-16. |
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| 作者姓名： | 张力军 钱山 郭才发 张士峰 |
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| 作者单位： | 国防科学技术大学,航天与材料工程学院,湖南,长沙,410073 |
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| 摘 要： | 针对交会对接最终逼近段相对位姿测量,提出了惯性/视觉组合相对导航算法.基于对接航天器相对运动模型,利用追踪航天器上惯性测量单(IMU)获取两航天器间的相对运动信息作为短期参考,以电荷耦合器件(CCD)视觉测量作为长期参考,综合姿态四元数运动学方程,分别建立了姿态滤波器和位置滤波器.仿真结果表明算法可行且有效,并仿真分析...
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| 关 键 词： | 组合相对导航 IMU 四元数 卡尔曼滤波 |
Integrated Relative Navigation Algorithm Based on IMU and CCD |
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| ZHANG Li-jun,QIAN Shan,GUO Cai-fa,ZHANG Shi-feng.Integrated Relative Navigation Algorithm Based on IMU and CCD[J].Aerospace Shanghai,2011,28(3):8-16. |
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| Authors: | ZHANG Li-jun QIAN Shan GUO Cai-fa ZHANG Shi-feng |
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| Institution: | ZHANG Li-jun,QIAN Shan,GUO Cai-fa,ZHANG Shi-feng(College of Aerospace and Material Engineering,NUDT,Changsha 410073,Hunan,China) |
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| Abstract: | An integrated relative navigation algorithm based on inertial measurement unit(IMU) and charge coupled device(CCD) was put forward for the final approach phase of rendezvous and docking in this paper.Based on the relative movement model and attitude quaternion kinematics equation,attitude filter and position filter were established,with the relative movement information obtained by IMU as short-term reference and CCD measurement as long-term reference.The attitude filter and position filter integrated with ... |
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| Keywords: | Integrated relative navigation Inertial measurement unit Quaternion Kalman filter |
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