航天器位置姿态的光学测量方法研究

航天器间相对状态(相对位置和姿态)的准确测量是编队飞行的航天器实现自主控制的重要基础.介绍了一种基于计算机视觉理论及相机成像原理的航天器间相对位置姿态的光学测量方法,测试系统结构及工作过程;推导了航天器间相对状态的测量算法,并对可能存在的误差源进行了分析.由于采用四元数法描述姿态、CMOS相机作为图像传感器,从而使得测量系统结构简单、体积小、重量轻、功耗低,算法简单、速度快,近距离测量精度高,能够广泛应用于空间合作目标间相对状态的测量.

OPTICAL METHOD FOR THE POSITION-ATTITUDE DETERMINATION OF SPACE VEHICLES

To realize autonomous control, precise measurement of relative states (relative position and attitude)between two space vehicles remains one of the most important requisites for formation-flying of spacecrafts. An optical method for testing the relative position and attitude between spacecrafts was proposed, based on computer vision and imaging theory. The framework of the testing system and the working process was first introduced, and a quaternion method for measuring the relative position and attitude based on the coordinates of the feature points on the target body was deduced. Possible causes of error of the testing system was then analyzed. As quaternion theory and CMOS camera are used in testing the relative states, the system possesses the following advantages: simple and rapid algorithm, compactness and light weight, high precision, and low power consumption. The proposed method can be widely used in measuring the relative position and attitude between space targets in cooperation.