Design and Ground Verification for Vision-Based Relative Navigation Systems of Microsatellites  

基于视觉的微小卫星相对导航系统设计与地面验证

作　　者：DU Ronghua LIAO Wenhe ZHANG Xiang 杜荣华;廖文和;张翔(南昌航空大学航空制造与机械工程学院,南昌330063;南京理工大学微纳卫星研究中心,南京210094)

机构地区：[1]School of Aviation Manufacturing and Mechanical Engineering,Nanchang Hangkong University,Nanchang 330063,P.R.China [2]Micro/Nano Satellite Research Center,Nanjing University of Science and Technology,Nanjing 210094,P.R.China

出　　处：《Transactions of Nanjing University of Aeronautics and Astronautics》2025年第1期37-55,共19页南京航空航天大学学报(英文版)

基　　金：supported in part by the Doctoral Initiation Fund of Nanchang Hangkong University(No.EA202403107);Jiangxi Province Early Career Youth Science and Technology Talent Training Project(No.CK202403509).

摘　　要：This paper presents the design and ground verification for vision-based relative navigation systems of microsatellites,which offers a comprehensive hardware design solution and a robust experimental verification methodology for practical implementation of vision-based navigation technology on the microsatellite platform.Firstly,a low power consumption,light weight,and high performance vision-based relative navigation optical sensor is designed.Subsequently,a set of ground verification system is designed for the hardware-in-the-loop testing of the vision-based relative navigation systems.Finally,the designed vision-based relative navigation optical sensor and the proposed angles-only navigation algorithms are tested on the ground verification system.The results verify that the optical simulator after geometrical calibration can meet the requirements of the hardware-in-the-loop testing of vision-based relative navigation systems.Based on experimental results,the relative position accuracy of the angles-only navigation filter at terminal time is increased by 25.5%,and the relative speed accuracy is increased by 31.3% compared with those of optical simulator before geometrical calibration.介绍了基于视觉的微小卫星相对导航系统设计和地面验证,为在微小卫星平台上实施视觉导航技术提供了全面的硬件设计解决方案和稳健的实验验证方法。首先,设计了一种低功耗、轻量化、高性能的视觉相对导航光学传感器;然后,设计了一套地面验证系统,以用于视觉相对导航系统硬件在环测试;最后,在地面验证系统上对设计的视觉相对导航光学传感器和提出的仅测角导航算法进行了实验测试,结果验证了几何校准后的光学模拟器能够满足视觉相对导航系统硬件在环测试要求。根据实验测试结果,与几何校准前的光学模拟器相比,仅测角导航滤波器在终端时刻的相对位置精度提高了25.5%,相对速度精度提高了31.3%。

关 键 词：microsatellites vision-based relative navigation optical simulator ground verification angles-only navigation 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]