Attitude calculation of multi-linear CCD exterior attitude measurement system based on Rodrigues parameter

LI Jing; YUAN Feng; DING Zhen-liang

doi:10.3788/OPE.20122004.0858

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Attitude calculation of multi-linear CCD exterior attitude measurement system based on Rodrigues parameter

Article | 更新时间：2020-08-12

- Attitude calculation of multi-linear CCD exterior attitude measurement system based on Rodrigues parameter
- Optics and Precision Engineering Vol. 20, Issue 4, Pages: 858-863(2012)
- 作者机构：
  
  哈尔滨工业大学电气工程与自动化学院,黑龙江哈尔滨,150001
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20122004.0858
  CLC： TN386.5;V448.15
- Received：01 November 2011，
  
  Revised：05 January 2012，
  
  Published Online：22 April 2012，
  
  Published：22 April 2012
- 稿件说明：
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李晶, 袁峰, 丁振良. 基于Rodrigues参数的多线阵CCD外姿态测量系统的姿态解算[J]. 光学精密工程, 2012,(4): 858-863

LI Jing, YUAN Feng, DING Zhen-liang. Attitude calculation of multi-linear CCD exterior attitude measurement system based on Rodrigues parameter[J]. Editorial Office of Optics and Precision Engineering, 2012,(4): 858-863
李晶, 袁峰, 丁振良. 基于Rodrigues参数的多线阵CCD外姿态测量系统的姿态解算[J]. 光学精密工程, 2012,(4): 858-863 DOI： 10.3788/OPE.20122004.0858.

LI Jing, YUAN Feng, DING Zhen-liang. Attitude calculation of multi-linear CCD exterior attitude measurement system based on Rodrigues parameter[J]. Editorial Office of Optics and Precision Engineering, 2012,(4): 858-863 DOI： 10.3788/OPE.20122004.0858.

摘要

提出了一种以Rodrigues参数作为姿态描述参数的线阵CCD外姿态解算算法用于多线阵CCD空间目标外姿态测量系统

以解决传统姿态解算算法约束条件多、计算量大、实时性差等缺点。利用Rodrigues参数简洁高效的特点

根据多点合作目标组成的线段间的相交矢量关系推导出了一种新的基于Rodrigues参数的多线阵CCD外姿态解算模型。算法结合Rodrigues参数集切换理论避免了奇异性的发生

并给出了这种姿态解算方法的流程。仿真结果表明

与四元数算法相比

该算法在未损失计算精度的前提下

计算消耗时间减少了37.6%

实时性优于四元数法

并且避免了奇异性问题。

Abstract

An exterior attitude calculation method by taking Rodrigues parmeter as the attitute representation parameter was presented to overcome the shortcomings of the constraints and complexity of traditional attitude calculation algorithms and to increase the real-time performance for the multi-linear CCD spatial object exterior attitude measurement system.A multi-linear CCD exterior attitude calculation model was deduced based on the high efficiency of the Rodrigues parameter and the relationship of the intersection vector between the line segments composed of point cooperation targets. In order to avoid the singularity in attitude calculation

a switching theory of the Rodrigues parameters is combined in the algorithm and the process of this attitude calculation method was also given. Experimental results indicate that the computational-complexity of the proposed algorithm is reduced by 37.6% as compared with that of the quaternion method on the premise of assuring precision

and it is superior to quaternion method in real-time performance. At the same time

it avoids the singularity problem.

关键词

Keywords

references

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