中国空间科学技术

›› 2011, Vol. 31 ›› Issue (5): 41-47.doi: 10.3780/j.issn.1000-758X.2011.05.006

• 研究探讨 • 上一篇    下一篇

交会对接气浮仿真平台视觉辅助姿态确定

 魏喜庆, 宋申民   

  1. (哈尔滨工业大学控制理论与制导技术研究中心，哈尔滨 150001)
  • 收稿日期:2010-11-22 修回日期:2011-02-21 出版日期:2011-10-25 发布日期:2011-10-25
  • 作者简介:魏喜庆 1982年生，2007年获哈尔滨工业大学控制科学与工程专业硕士学位，现为哈尔滨工业大学控制理论与制导技术研究中心博士研究生。研究方向为非线性滤波和视觉导航。 宋申民 1968年生，1996年获哈尔滨工业大学控制科学与工程专业博士学位，教授、博士生导师。研究方向为鲁棒控制、智能优化与智能控制和飞行器控制。
  • 基金资助:

    国家863计划

Vision-aided Attitude Determination for Air-bearing Simulator of Rendezvous and Docking

 WEI  Xi-Qing, SONG  Shen-Min   

  1. (Center of Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001）
  • Received:2010-11-22 Revised:2011-02-21 Published:2011-10-25 Online:2011-10-25

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摘要： 文章首先介绍了用于空间合作卫星最后逼近段交会对接任务的仿真平台，描述了文中使用的姿态运动学方程和视觉成像算法。为了充分利用陀螺仪和视觉系统进行姿态确定，采用传统的扩展卡尔曼滤波（EKF）对两种测量数据进行融合，实现对姿态和陀螺仪漂移的估计。为了克服EKF调节参数过多和计算过程需要求逆的问题，设计了一种新的非线性观测器。最后，通过在对接仿真平台上进行试验，对比验证了非线性滤波器的有效性以及实用性。

关键词: 交会对接, 气浮仿真平台, 视觉定姿, 扩展卡尔曼滤波, 非线性观测器, 航天器

Abstract: Firstly，the simulator was introduced to simulate the procedure of spacecraft rendezvous and docking. Then, attitude kinematics and pose from orthography and scaling with iterations (POSIT) algorithms were described. Secondly, extended Kalman filter(EKF) was used to integrate the data from two sensors so as to determine the relative attitude and gyro biases.  Thirdly, a nonlinear observer was presented to overcome the difficulty of tuning the parameters of EKF and avoid solving the inverse of matrix during EKF updating. Finally, experiments were carried out upon 4-DOF air-bearing simulators. The experimental results validate the availability and precision of the proposed methods. 

Key words: Rendezvous and docking, Air-bearing simulator, Vision-aided attitude determination, Extended Kalman filter, Nonlinear observer, Spacecraft