单目视觉下基于对偶四元数的卫星姿态的确定  

Satellite attitude estimation based-on dual quaternion from monocular camera

作　　者：左俊青[1] 王惠南[1] 刘海颖[2] 冯成涛[1] 

机构地区：[1]南京航空航天大学自动化学院,南京210016 [2]南京航空航天大学高新技术研究院,南京210016

出　　处：《中国惯性技术学报》2008年第5期577-581,共5页Journal of Chinese Inertial Technology

基　　金：教育部博士点基金资助项目(20030287005);高等学校博士学科点专项科研基金(20070287007)

摘　　要：在航天器姿态动力学和机器视觉理论基础上,提出一种新的卫星姿态确定的算法。单目相机作为观测设备,用对偶四元数以及几何透视投影法,将从星3D姿态参数转换为2D照片平面参数。最后,将表征坐标变换的对偶四元数中的位移和旋转分量以及运动角速度和线速度作为状态量,2D坐标参数作为观测值,建立滤波器,得到了表示相对运动的对偶四元数的估计值。在30 s内的仿真结果证明了对偶四元数在表示刚体运动变换时的优越性,为从星姿态测量找到一个更有工程应用价值的方法。A new attitude presentation was proposed based on attitude dynamics and hand-eye solution. Monocular camera was used to measure the peculiar lines on the model. After DQ transformation and perspection, 2D image parameters could be gotten from 3D parameters of subordinate satellite attitude. A Kalman filter was designed as state assignment based on DQ representation translation ＆ rotation and their first derivatives. 2D points coordinates was used as measurement for the filter. After 30 s simulation, the evaluation of DQ was gotten. The results validate that DQ method was more effective in representing rigid motion, and provide a way for subsatellite attitude measurement.

关 键 词：单目视觉 对偶四元数 姿态估计 卡尔曼滤波器 

分 类 号：U666.1[交通运输工程—船舶及航道工程]