基于Rodrigues参数的视觉相对位姿确定算法

以Rodrigues参数作为姿态描述参数提出了一种视觉相对位姿确定算法。Rodrigues参数作为一种简洁、高效的姿态描述法,适用于实时性要求高的视觉相对位姿确定,但它本身的奇异性使其不能用于大角度的位姿确定。将视觉导航方法和无奇异姿态描述的Rodrigues参数切换理论结合起来,推导了基于Rodrigues参数的视觉相对位姿解算模型,并给出了这种相对位姿确定算法的流程。仿真结果表明该算法能很好地解决奇异问题,实现全姿态运动情形下的相对位姿确定。

Vision-based Relative Position and Attitude Determination Using Rodrigues Parameters

A Vision-based position and attitude determination algorithm is proposed using Rodrigues parameter to describe the attitude. Rodrigues parameters are simple and efficient in the attitude representation, which is suitable for Vision-based precise relative position and attitude determination, but it can not be used when angle is enough large, because it is singularity. So the algorithm is based on vision-based navigation theory and parameter switch theory of Rodrigues parameter that can avoid singular of attitude representation. The model is derived and the following of the relative position and attitude algorithm is given. Finally, the result of simulation proves that the algorithm successfully solved singularity problem and can determine relative position and attitude for all-attitude.