失效卫星空间近距离接近的位姿联合确定  

Position and Attitude Joint Determination for Failed Satellite in Space Close-Distance Approach

作　　者：熊智[1] 姚小松[1,2] 郁丰[1] 

机构地区：[1]南京航空航天大学自动化学院,南京210016 [2]上海微小卫星工程中心,上海200050

出　　处：《南京航空航天大学学报》2013年第5期583-589,共7页Journal of Nanjing University of Aeronautics & Astronautics

基　　金：国家自然科学基金(61203197;61203188)资助项目;中央高校基本科研业务费专项资金资助项目;江苏省高校青蓝工程资助项目;江苏高校优势学科建设工程资助项目

摘　　要：为了保证对失效卫星的在轨修复等操作的安全可靠实现,针对失效卫星近距离接近中的位置、姿态确定问题开展研究。在分析了失效卫星特性及运动模式的基础上,考虑到立体视觉系统构建的基于失效卫星表面特征点的观测模型不仅与相对位置、姿态有关,而且与追踪星本体位置、姿态也存在一定的关联。因此,提出了一种基于失效卫星相对位姿及追踪星本体位姿联合估计的方法。首先建立了相对位置、姿态模型和追踪星本体位置、姿态模型;然后根据建立的状态模型,以及立体视觉系统、GPS、星敏感器构建的量测模型设计了扩展卡尔曼滤波器。最后的仿真结果表明:该方法可以同时估计出两颗星之间的相对位置、姿态,以及追踪星本体位置和姿态,且能达到较高的估计精度。Research is conducted,for the security and reliability of the failed satellite＇s on-orbit operation,on the position and attitude estimation of the failed satellite in the close-distance approach.On the basis of the analysis on the characteristic and the motion mode of the failed satellite,the observation model of a stereo vision system based on the feature point of the failed satellite surface is not only connected with relative position and attitude,but also has some links with the chaser satellite＇s position and attitude.Thus,a method of relative position and attitude is proposed as well as the chaser satellite＇s position and attitude in this paper.First,the relative position,the relative attitude,the chaser satellite＇s position,and the chaser satellite＇s attitude are established.Then,according to the state model,and the observed model of the stereo vision system,GPS,star sensor,and extended Kalman filter are designed.Finally,the simulation shows that：relative position and attitude of the two satellites are estimated,and the chaser satellite＇s position and attitude are also estimated at the same time,which show high precision.

关 键 词：失效卫星 立体视觉系统 GPS 星敏感器 位姿联合确定 

分 类 号：V448.21[航空宇航科学与技术—飞行器设计]