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
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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.
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.
引文
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2 Leinz M R,Chen C T,Beaven M W,et al.Orbital Express Autonomous Rendezvous and Capture Sensor System(ARCSS)flight test results.In:Proceedings of SPIE,Sensors and Systems for Space Applications II.Orlando,2008.19-23
3 Bodin P,Larsson R,Nilsson F,et al.PRISMA:An in-orbit test bed for guidance,navigation,and control experiments.J Spacecraft Rockets,2009,46:615-623
4 Ardaens J S,Gaias G.Spaceborne autonomous vision-based navigation system for AVANTI.In:Proceedings of 65th International Astronautical Congress.Toronto,2014
5 Woffinden D C,Geller D K.Observability criteria for angles-only navigation.IEEE Trans Aerosp Electron Syst,2009,45:1194-1208
6 Woffinden D C,Geller D K.Optimal orbital rendezvous maneuvering for angles-only navigation.J Guidance Control Dyn,2009,32:1382-1387
7 Geller D K,Perez A.Initial relative orbit determination for close-in proximity operations.J Guidance Control Dyn,2015,38:1833-1842
8 You Y,Wang H,Christophe P,et al.Square root unscented Kalman filter-based angles-only relative navigation using camera offset(in Chinese).JAstronaut,2016,37:1312-1322[尤岳,王华,Christophe Paccolat,等.基于SRUKF的偏心仅测角相对导航方法.宇航学报,2016,37:1312-1322]
9 Xu C,Wang D Y,Huang X Y.Relative navigation for planetary landing using stereo vision measurements(in Chinese).J Astron,2016,37:802-810[徐超,王大轶,黄翔宇.采用双目视觉测量的行星着陆相对导航方法.宇航学报,2016,37:802-810]
10 Wang D Y,Li M D,Huang X Y,et al.Autonomous Navigation Technology Based on Multi-Source Information Fusion(in Chinese).Beijing:Beijing Institute of Technology Press,2018[王大轶,李茂登,黄翔宇,等.航天器多源信息融合自主导航技术.北京:北京理工大学出版社,2018]