一种非合作目标相对位置和姿态确定方法  

A New Method of Relative Position and Attitude Determination for Non-Cooperative Target

作　　者：周军[1] 白博[1] 于晓洲[1] 

机构地区：[1]西北工业大学精确制导与控制研究所,西安710072

出　　处：《宇航学报》2011年第3期516-521,共6页Journal of Astronautics

基　　金：教育部博士点基金(20070699004);西北工业大学科技创新基金(2008KJ02010)

摘　　要：针对非合作目标中的从星若无法获得主星的动态信息时,就无法自主进行相对位置和姿态确定的问题,提出了一种采用陀螺、立体视觉系统和加速度计的相对状态确定方法。首先分别建立相对姿态方程、主星动力学方程和相对位置方程等系统的数学模型。然后根据这些方程组成的状态方程和立体视觉系统的测量模型设计了卡尔曼滤波器。该滤波器使得从星根据加速度计、陀螺和立体视觉系统的输出,在仅获得主星的外观特征和一些静态参数的情况下,能够自主进行相对位置和姿态的确定。最后,数值仿真结果表明,在相同仿真条件下,与使用主星陀螺信息的相对状态确定算法相比,该算法能够自主进行相对状态的确定,且位置和姿态稳态误差分别为0.05m和2°。To solve the problem that the slave spacecraft can＇t autonomously determine the relative position and attitude without master spacecraft＇s dynamic information from non-cooperative target,a relative state determination method which adopts gyros,a stereo vision system and accelerators is put forward.Firstly,relative attitude equation,target＇s dynamics equation and relative position equation are given.And then,based on the state equation composed of above equations and measurement equation of the stereo vision system,the Kalman filter is designed.According to the output of slave spacecraft＇s accelerators,stereo vision system and gyros,the slave can determine the relative position and attitude autonomously only with target＇s appearance and static parameters.Finally,the numerical simulation results show that compared to the relative state determination system with target＇s gyro information,the designed method can determine the relative state autonomously and reaches 0.05m and 2 degree of steady state error of position and attitude respectively.

关 键 词：非合作目标 立体视觉 相对状态确定 

分 类 号：V448.21[航空宇航科学与技术—飞行器设计]