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针对两个航天器交会对接的最终段,给出一种基于单目CCD相机测量的相对位置和姿态确定算法。针对传统方法建立测距方程组时,引入特征光点间的距离公式从而带来二次非线性,造成实时求解困难的情况,基于矢量描述建立相对位置和姿态确定方程,不涉及特征光点距离公式,并在相对姿态小角度假设条件下,将相对位置和姿态确定方程组完全线性化,便于求解。然后将此线性方程组的解算结果作为非线性方程组求解的迭代初值,有利于快速收敛到真解。考虑到交会对接末段两航天器相对位置和姿态连续小幅度变化,相邻采样时刻两航天器相对位置和姿态变化较小,可将前一采样时刻的求解结果作为后一时刻求解的迭代初值,这样可以节约计算资源,保证算法实时性。数值仿真结果验证了该算法的快速性和有效性。
Aiming at the final segment of rendezvous and docking of two spacecraft, a relative position and attitude determination algorithm based on monocular CCD camera measurement is given. In order to establish the range equation of the traditional method, the distance formula between the characteristic points is introduced to bring about the quadratic nonlinearity, which makes it difficult to solve in real time. The relative position and attitude determination equations are established based on vector description, Formula, and in the relative attitude of a small angle under the assumption that the relative position and attitude determination equations completely linear, easy to solve. Then, the solution of the linear equations is used as the iterative initial value of the solution to the nonlinear equations, which is good for fast convergence to the true solution. Considering that the relative position and attitude of the two spacecraft at the end of the rendezvous and docking process continue to change slightly and the relative positions and attitude changes of the two spacecraft at the adjacent sampling moments are small, the solution of the previous sampling moment can be taken as the iteration at the later moment Value, so you can save computing resources, to ensure real-time algorithm. The numerical simulation results show that the algorithm is fast and effective.