航天器自主交会对接的视觉相对导航方法  

Vision-Based Relative Navigation for Rendezvous and Docking of Spacecraft

作　　者：刘勇[1] 徐鹏[1] 徐世杰[2] 

机构地区：[1]北京空间飞行器总体设计部,北京100094 [2]北京航空航天大学,北京100191

出　　处：《中国空间科学技术》2013年第6期33-40,共8页Chinese Space Science and Technology

摘　　要：针对航天器自主交会对接在最终逼近阶段的相对导航问题,研究了基于特征光标的航天器视觉相对导航方法。首先建立了小角度假设条件下的相对导航模型。给出了航天器相对位置和采用欧拉角描述的相对姿态的近似解析算法。其次利用相对姿态的解析解作为观测信息,采用降阶的无迹卡尔曼滤波方法对目标航天器的姿态角和惯性角速度进行了估计,间接得到了相对姿态和相对姿态角速度的估计值。数值仿真表明提出的解析算法能够有效获得相对位置和相对姿态测量信息,通过降阶滤波可明显提高相对姿态确定精度。For the final phase of spacecraft autonomous rendezvous and docking, the vision relative navigation method based on the information of the specific reference light sources was presented. Under the assumption of small attitude angle, the relative navigation models were deduced. The closed-form solution for relative attitude and position parameters based on the vision navigation models was derived. The reduced order Unscented Kalman Filtering （UKF） algorithm was designed to estimate the information of relative attitude angle and relative attitude angle velocity. Simulation results show that the proposed approach provides a convenient way for obtaining the information of relative position and relative attitude, and the reduced order UKF can improve the accuracy of the relative attitude determination.

关 键 词：自主交会对接 视觉相对导航 相对姿态确定 航天器 

分 类 号：V526[航空宇航科学与技术—人机与环境工程]