非合作航天器逆深度参数化姿态估计

刘宗明; 曹姝清; 张宇; 叶东

doi:10.3788/OPE.20172402.0451

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非合作航天器逆深度参数化姿态估计

微纳技术与精密机械 | 更新时间：2020-07-07

- 非合作航天器逆深度参数化姿态估计
- Inverse depth parameterized attitude estimation for non-cooperative spacecraft
- 光学精密工程 2017年25卷第2期页码：451-459
- 作者机构：
  
  1.哈尔滨工业大学, 电气工程及自动化学院, 黑龙江哈尔滨 150001
  2.上海航天控制技术研究所, 上海 201109
  3.上海市空间智能控制技术重点实验室, 上海 201109
- 作者简介：
  
  [ "刘宗明 (1986-), 男, 山东青岛人, 硕士, 工程师, 2009年于青岛大学获得学士学位, 2011年于哈尔滨工业大学获硕士学位, 主要研究方向为机器视觉、嵌入式图像处理、光学测量敏感器设计与研制。E-mail:zongmingliu@163.com" ]
  叶东 (1968-)，男，黑龙江哈尔滨人，博士，教授，博士生导师，1990年、1995年和1999年于哈尔滨工业大学分别获学士、硕士和博士学位，主要从事基于串/并联结构的坐标测量理论和技术、双目/单目视觉坐标测量理论和技术等方向的研究。E-mail：yedong@hit.edu.cn YE Dong, E-mail:yedong@hit.edu.cn
- 基金信息：
  
  上海市青年科技启明星计划(16QB1401000)
- DOI：10.3788/OPE.20172402.0451
  中图分类号： TP274+.2
- 收稿日期：2016-08-20，
  
  录用日期：2016-9-17，
  
  纸质出版日期：2017-02-25
- 稿件说明：
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刘宗明, 曹姝清, 张宇, 等. 非合作航天器逆深度参数化姿态估计[J]. 光学精密工程, 2017,25(2):451-459.

Zong-ming LIU, Shu-qing CAO, Yu ZHANG, et al. Inverse depth parameterized attitude estimation for non-cooperative spacecraft[J]. Optics and precision engineering, 2017, 25(2): 451-459.
刘宗明, 曹姝清, 张宇, 等. 非合作航天器逆深度参数化姿态估计[J]. 光学精密工程, 2017,25(2):451-459. DOI： 10.3788/OPE.20172402.0451.

Zong-ming LIU, Shu-qing CAO, Yu ZHANG, et al. Inverse depth parameterized attitude estimation for non-cooperative spacecraft[J]. Optics and precision engineering, 2017, 25(2): 451-459. DOI： 10.3788/OPE.20172402.0451.

摘要

为了实现对空间失效卫星、空间碎片等非合作目标，尤其是具有自旋运动特性的目标进行在轨服务或者离轨清除，需要精确完成追踪飞行器与目标飞行器之间的相对姿态测量。首先，以逆深度参数化表示相机在世界坐标系下的坐标值、高低角、方位角和深度信息，可以有效解决小视差情况下的单目视觉姿态估计。其次，建立了相机相对于非合作目标的运动模型和测量模型。最后，基于单点随机抽样和扩展卡尔曼滤波实现了相机和目标之间的相对运动姿态估计。实验结果表明：对于三轴稳定目标，接近过程中姿态测量精度约为0.5°；对于匀速慢旋目标，相对角度误差约为3.5%，平均角速度误差约为0.1°/s。可以满足工程上空间非合作目标相对姿态测量的使用需求。

Abstract

Purpose:to achieve on-orbit servicing or off-orbit removal of non-cooperative targets in space

such as inactive satellites

space debris

especially slowly rotating targets

accurate measurement of relative attitude between the tracking aircraft and target aircraft is necessary. Method:firstly

used inverse depth parameterization to represent the coordinate value

angular altitude

azimuth angle and depth information of the camera

which could effectively complete the monocular vision attitude estimation under small parallax error; secondly

established a motion model and measurement model of the camera relative to the non-cooperative target; finally

achieved the relative motion attitude estimation between the camera and target based on single candidate RANSAC and EKF. Results:for three-axes stable targets

the attitude measurement accuracy during the approaching process is approximately 0.5°; for slowly rotating targets (constant velocity)

the relative angle error is about 3.5%

with an average angular velocity error of approximately 0.1°/s. All these parameters can meet the requirements for relative attitude measurements of engineering spatial non-cooperative targets.

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references

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