一种广角相机视频小卫星姿态跟踪方法  

An Attitude Tracking Method for Small Video Satellite with Wide-Angle Camera

作　　者：范才智[1] 钟子凯 吴国福 杨跃能[1] FAN Caizhi;ZHONG Zikai;WU Guofu;YANG Yueneng(College of Aerospace Science and Technology,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学空天科学学院,长沙410073

出　　处：《航天控制》2024年第4期42-49,共8页Aerospace Control

摘　　要：针对传统目标跟踪方法需要目标的先验位置信息、不适用于非合作目标跟踪的问题,提出了一种基于广角相机图像误差的视频小卫星目标跟踪方法。该方法首先建立了广角相机成像模型,然后计算目标在相机图像平面中的投影位置和期望位置之差,通过图像误差确定目标与视频小卫星的相对误差角速度和姿态误差,将其作为反馈项设计非线性控制器,最后利用Barbalat引理证明了系统的稳定性。仿真结果表明,在广角相机大范围视场下,该方法可以有效地将目标控制到图像平面中期望的位置,并且利用天拓二号卫星在轨验证了该方法的有效性。Aimed at the problem that traditional target tracking methods require prior position information of the target which are not suitable for non-cooperative target tracking,a target tracking method based on wide-angle camera image error for video satellite is proposed.A wide-angle camera imaging model is firstly established,and then the difference is calculated between the projected position of the target in the camera image plane and the expected position.The relative error,angular velocity and attitude error between the target and the small video satellite are calculated by image error,which are used as feedback terms to design a nonlinear controller.Finally,the stability of the system is demonstrated by using the Barbalat’s lemma.The simulation results show that the target driven to the desired position in the image plane can be effectively controlled in a wide field of view of a wide-angle camera and the effectiveness of this method is verified by Tiantuo-2 satellite on orbit data.

关 键 词：视频小卫星 视觉跟踪 广角相机 姿态控制 误差分析 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]