基于鲁棒扩展卡尔曼滤波的双目视觉测量相对导航技术研究

针对非合作目标相对导航问题，为提高相对导航的精度和可靠性，采用双目视觉测量方法实现追踪器与目标器之间相对状态的测量，并基于鲁棒扩展卡尔曼滤波方法，提出了一种鲁棒相对导航滤波方法。仿真结果表明，该方法对相对导航系统模型中的不确定性具有良好的鲁棒性，且滤波精度较高。

A robust vision-based estimation for the relative navigation

A robust vision-based estimation for the relative navigation of the non-cooperation target is proposed in the paper. The rotational and translational states of the pursuer spacecraft relative to the target spacecraft are estimated using the observations by the two cameras mounted on the pursuer spacecraft. The estimator takes account of the uncertainty in the relative navigation system model and represents the higher order of the linearization error of the relative navigation system as the uncertainty, aiming to improve the accuracy and the reliability. The numerical simulation shows the convergences of the relative position and the relative attitude estimations and demonstrates that the relative estimator performs excellently in the properties of the accuracy and the robustness.