| 基于双目视觉的相对状态自主确定 |
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| 引用本文： | 邱伟,刘向东,靳永强.基于双目视觉的相对状态自主确定[J].上海航天,2010,27(2):9-13,28. |
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| 作者姓名： | 邱伟 刘向东 靳永强 |
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| 作者单位： | 北京理工大学,信息科学技术学院,北京,100081 |
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| 摘 要： | 基于双目视觉系统提出了一种适于交会对接最后阶段的近距离绕飞的相对状态自主确定方法。用修正罗德里格参数(MRP)描述姿态,给出了追踪器与目标器间的相对姿态运动学与动力学方程,以及相对运动方程,根据双目视觉系统的小孔成像原理建立了双目系统的测量数学模型,由扩展卡尔曼滤波(EKF)获得两航天器的相对位姿及其变化率。仿真结果表明该法可行。
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| 关 键 词： | 双目视觉 交会对接 相对状态自主确定 修正罗德里格参数 扩展卡尔曼滤波 |
Relative States Autonomous Determination Based on Binocular Vision System |
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| QIU Wei,LIU Xiang-dong,JIN Yong-qiang.Relative States Autonomous Determination Based on Binocular Vision System[J].Aerospace Shanghai,2010,27(2):9-13,28. |
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| Authors: | QIU Wei LIU Xiang-dong JIN Yong-qiang |
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| Institution: | QIU Wei,LIU Xiang-dong,JIN Yong-qiang(School of Information Science , Technology,Beijing Institute of Technology,Beijing 100081,China) |
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| Abstract: | Based on binocular vision system,a relative states autonomous determination algorithm for the close range flying phase of spacecraft rendezvous and docking was developed in this paper.With the modified Rodrigues parameter as attitude variable,the kinematics and dynamic equations of relative attitude and relative motion were established.The mathematical model of binocular vision system was set up.The relative position and attitude as well as their changing rate of two spacecraft using extended Kalman filteri... |
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| Keywords: | Binocular vision system Rendezvous and docking Relative states autonomous determination Modified Rodrigues parameter Extended Kalman filter |
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