宇航学报

宇航学报 ›› 2015, Vol. 36 ›› Issue (8): 906-915.doi: 10.3873/j.issn.1000-1328.2015.08.007

• 制导、导航与控制 • 上一篇    下一篇

对空间碎片的相对位姿估计

宋亮，李志，马兴瑞   

  1. 1.中国空间技术研究院钱学森空间技术实验室，北京100094； 2. 广东省政府，广州510031
  • 收稿日期:2014-08-07 修回日期:2014-12-13 出版日期:2015-08-15 发布日期:2015-08-25

A Novel Position and Attitude Estimation for Space Debris

SONG Liang, LI Zhi, MA Xing rui   

  1. 1. Qian Xuesen Laboratory of Space Technology, China Academy of Space Technology, Beijing 100094, China； 2. Government of Guangdong Province, Guangzhou 510031, China
  • Received:2014-08-07 Revised:2014-12-13 Online:2015-08-15 Published:2015-08-25

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摘要：

针对几何、质量特性参数均未知的空间碎片，提出一种基于扩展卡尔曼滤波（EKF）的相对位姿估计算法。该算法以单目相机获得的目标图像特征视线信息作为测量输入，以目标姿态、姿态角速度、惯量比、相对位置、相对速度和特征位置作为滤波状态。对算法进行可观性分析，给出两个可以保证算法可观性的条件。分别针对不同条件进行数值仿真，仿真结果表明新算法能够对几何和质量参数未知的空间碎片进行有效的相对位姿 估计。

关键词: 单目相机, 相对位姿估计, 未知空间目标, 视觉相对导航, 扩展卡尔曼滤波

Abstract:

An extended Kalman filter(EKF) based filter algorithm is presented for relative position and attitude estimation of space debris with unknown geometry and inertia parameters. A monocular camera is used as the only relative measurement sensor, by which the light-of-sight (LOS) measurements of the features of the space debris are obtained. The system states of the new filter algorithm include relative position and velocity, inertia ratios, attitude and attitude angular velocity, and the feature locations of the space debris. An observability analysis is given, and two key conditions that guarantee the observability of the proposed algorithm are developed. Simulation results verify the proposed algorithm.

Key words: Monocular camera, Relative position and attitude estimation, Unknown space target, Relative navigation, Extended Kalman filter

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