›› 2011, Vol. 31 ›› Issue (3): 76-83.doi: 10.3780/j.issn.1000-758X.2011.03.012

• 技术交流 • 上一篇    


王晓亮, 邵晓巍, 龚德仁, 段登平   

  1. (上海交通大学空天科学技术研究院,上海 200240)
  • 收稿日期:2010-09-06 修回日期:2011-01-10 出版日期:2011-06-25 发布日期:2011-06-25
  • 作者简介:王晓亮 1981年出生,2006年获西北工业大学系统工程专业硕士学位。现为上海交通大学空天科学技术研究院导航制导与控制专业博士研究生。主要研究方向为卫星编队飞行导航系统分析与设计、非线性自适应滤波、卫星姿态确定。

An Adaptive Approach to Vision Measurement for Rendezvous and Docking with Non-cooperative Target in Space

WANG  Xiao-Liang, SHAO  Xiao-Wei, GONG  De-Ren, DUAN  Deng-Ping   

  1. (Institute of Aerospace Science & Technology, Shanghai Jiaotong University, Shanghai 200240)
  • Received:2010-09-06 Revised:2011-01-10 Online:2011-06-25 Published:2011-06-25

摘要: 分析了空间非合作目标影像测量及特征点提取机理,根据对接中特征点识别噪声不确定和空间摄动引起的模型误差,对传统滤波方法进行改进;通过量测更新后的新息数据对量测噪声量级进行估计,同时采用渐消自适应方法对模型误差进行处理,增进滤波效果;设计了针对空间非合作目标对接段的滤波器,能够提供对接段相对位置、速度、姿态角及角速率估计信息。仿真结果表明,提出的改进滤波算法能够在测量噪声不确定和模型误差条件下达到较好效果。

关键词: 非合作目标, 交会对接, 影像测量, 卡尔曼滤波, 导航精度, 航天器

Abstract: The mechanism of vision measurement for spatial non-cooperative target and extraction of feature points were analyzed. An improved filter was proposed for the unknown noise caused by feature points identification and the model uncertainty due to perturbations in space. The filter performance can be improved by estimating the magnitude of the measurement noise by using the update information and adaptive fading method for errors processing. A filter design for rendezvous and docking with non-cooperative target was also given which can provide estimation information of relative position, velocity, attitude angle and angular rate. Simulation results demonstrate that the proposed algorithm can achieve good results under conditions of unknown measurement noise and model error uncertainty.

Key words: Non-cooperative target, Rendezvous and docking, Vision measurement, Kalman filter, Navigation accuracy, Spacecraft