基于双目光学图像信息的空间非合作目标自主相对导航方法  

Autonomous relative navigation for noncooperative target using stereo vision measurements

作　　者：王大轶[1] 张磊[1] 朱卫红[1] 史纪鑫[1] 黄美丽[1] 邹元杰[1] WANG DaYi;ZHANG Lei;ZHU WeiHong;SHI JiXin;HUANG MeiLi;ZOU YuanJie(Beijing Institute of Spacecraft System Engineering,China Academy of Space Technology,Beijing 100094,China)

机构地区：[1]北京空间飞行器总体设计部,北京100094

出　　处：《中国科学：物理学、力学、天文学》2019年第2期81-88,共8页Scientia Sinica Physica,Mechanica & Astronomica

基　　金：国家自然科学基金(编号:61525301;61690215;61803027)资助项目

摘　　要：针对无任何先验信息的空间非合作目标相对导航问题,提出了一种仅基于双目视觉图像测量的自主相对导航方法.首先,建立了非合作目标双目图像测量辨识模型及特征位置矢量解算方法.利用观测卫星相机系下的目标相对位置矢量观测序列,结合卫星姿态、相机安装方位等信息,给出了非合作目标初始相对运动状态估计及导航滤波参数初始化方法.之后采用考虑状态噪声补偿以及观测方差矩阵和状态噪声矩阵自适应修正的扩展卡尔曼滤波算法,完成空间非合作目标自主相对导航解算.最后以低轨非合作目标逼近段为例进行相对导航仿真,验证了该方法的有效性.An autonomous relative navigation method based on stereo vision measurements is proposed for noncooperative targets without any prior information.Firstly,a target identification model using only stereo vision measurements is established. Based on the relative position vector computed from the stereo image sequence,the initial state vector of the noncooperative target and navigation filter covariance matrix are initialized by taken spacecraft attitude and camera installation information into account.Then,an extended Kalman filter considering state noise compensation as well as observation variance matrix and state noise matrix adaptive correction is formulated to solve the noncooperative relative navigation problem.Finally,a low Earth orbit,noncooperative target approaching navigation scenario is considered.The simulation results demonstrate the effectiveness of the proposed method for noncooperative autonomous relative navigation.

关 键 词：非合作目标 双目视觉 自主相对导航 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计] TP391.41[自动化与计算机技术—计算机应用技术]