基于立体视觉的非合作航天器相对导航

非合作航天器其没有可交互的传感器,传统的相对导航方法难以满足精度要求。根据非合作航天器相对导航特点,提出一种基于立体视觉的空间非合作目标相对导航算法。方法使用安装在追踪航天器上的立体视觉相机作为测量传感器,实现目标在追踪航天器体坐标系下相对位置的测量。在惯性坐标系下建立航天器相对运动方程,并离散化作为系统的状态方程,利用立体视觉的测量信息作为量测值,在此基础上设计基于卡尔曼滤波(Kalman filter)的两步滤波相对导航算法,实现航天器间相对导航状态的实时估计,仿真结果显示算法实时性、有效性,导航方法收敛速度较快,精度高,满足相对导航要求。

Relative Navigation for Non-cooperative Spacecraft Based on Stereo Vision

A novel approach is developed for relative navigation of non-cooperative spacecraft based on stereo vision in this paper.The approach uses stereo camera fixed on chaser as a sensor,which provides disparity of the target between the two images to estimate the relative position in chaser coordinate frame.Relative motion equation is established in inertial coordinate frame and discretized as state equation,and a second step estimation relative navigation algorithm based Kalman filter is designed using measurem...