摘要
针对模型尺寸已知的非合作目标,在目标三维特征点和图像二维特征点坐标已知但匹配关系未知的条件下,对基于SoftPOSIT算法的非合作目标航天器间相对位姿估计方法进行了研究。SoftPOSIT算法将解决匹配的Softassign和解决位姿的POSIT两种迭代方法融入一个迭代循环,建立全局目标函数,最小化目标函数就可在获得服务航天器与目标航天器相对位姿的同时确定三维点与二维点间的匹配关系。仿真结果表明由SoftPOSIT算法所得位态精度很高,算法正确有效。在不同条件下用该算法对某卫星位姿进行估计,发现算法的相对位置估计精度随目标与服务航天器相对距离增大而提高,而相对姿态角对估计精度的影响较小。
For the space non-cooperative with known size,relative pose and attitude estimation for the target based on SoftPOSIT algorithm was studied in the conditions that the coordinate of target 3Dfeatures and image 2D features were known and the matching was unknown in this paper.The Softassign and POSIT method which solved the matching and pose and attitude respectively were integrated into one iterative cycle in SoftPOSIT algorithm.The globe object function was established and min the function could acquire the relative pose and attitude between the active spacecraft and passive spacecraft and the matching between the 3D and 2Dfeatures synchronously.The simulation proved that the accuracy of the pose and attitude gained by SoftPOSIT algorithm was high which meant that the algorithm was correct and effective.The relative pose and attitude of some spacecraft was estimated by SoftPOSIT algorithm under various conditions.It was found that the estimation accuracy of relative pose would be improved with the relative distance between two spacecrafts increasing and relative attitude had little effect on the estimation.
出处
《上海航天》
2016年第3期124-129,共6页
Aerospace Shanghai
基金
国家自然科学基金青年科学基金资助(61304228)
