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基于双目视觉的非合作目标自主姿态估计方法
胡启阳1, 王大轶2
1.北京控制工程研究所, 北京 100190;2.北京空间飞行器总体设计部, 北京 100094
摘要:
针对在轨服务任务对于空间非合作目标的自主相对导航需求,提出了一种基于双目视觉的自主姿态估计方法。该方法以Markley变量描述目标的姿态运动,并利用双目相机对目标表面的特征点进行观测,利用特征点的运动规律与目标姿态运动的相关性,并通过容积卡尔曼滤波算法实现了对非合作目标角速度与自旋轴方向的估计。数学仿真验证了所给出的姿态估计方法,并分析了估计精度的影响因素。
关键词:  非合作目标;姿态估计;Markley变量;双目视觉
DOI:10.15982/j.issn.2095-7777.2019.04.005
分类号:
基金项目:国家自然科学基金资助项目(61690215,61640304,61573060,61203093);国家杰出青年科学基金资助项目(61525301)
Autonomous Attitude Estimation Method for Non-Cooperative Target Based on Stereo VISION
HU Qiyang1, WANG Dayi2
1.Beijing Institute of Control Engineering, Beijing 100190, China;2.Beijing Institute of Spacecraft System Engineering, Beijing 100094, China
Abstract:
An estimation method based on stereo vision is proposed for the requirement of autonomous relative navigation to a non-cooperative target in on-orbit servicing mission. First, a dynamic model of Markley variables and a measurement model of stereo vision are built. Second,the relation between the motion of the feature points and the rotation of target is researched. Then the Cubature Kalman filter is used to estimate the spinning angular velocity and direction of the spinning axis. Finally,the validity of the proposed estimation algorithm is verified through numerical simulation.
Key words:  non-cooperative target;attitude estimation;Markley variables;stereo vision