Non-cooperative spacecraft pose integrated estimation and inertial parameter determination method

Abstract

The invention relates to a non-cooperative spacecraft pose integrated estimation and inertial parameter determination method, and provides a non-cooperative spacecraft pose and inertial parameter estimation method based on dual quaternion aiming at the problem of missing of relative angular velocity and relative linear velocity measurement information of a target spacecraft in a visual navigation process. The method comprises the following steps: a space rigid spacecraft six-degree-of-freedom attitude kinematics and dynamics model described by a dual quaternion frame is established for accurately describing an inherent coupling relationship between relative attitude motion and relative position motion; then error amounts of a dual quaternion vector part, a dual angular velocity vector part and a rotational inertia ratio of the target spacecraft are selected as state variables, and a state equation and an observation equation are determined; finally, a state correction method of error dual quaternion is given, a multiplicative extended Kalman filter is designed, the real-time pose and inertial parameters of the target spacecraft are estimated online, and the on-orbit task execution precision is improved.

Description

technical field [0001] The invention relates to a non-cooperative spacecraft pose integrated estimation and inertial parameter determination method, which is mainly applied to the spacecraft pose estimation problem under the absence of relative angular velocity and relative linear velocity measurement information of the target spacecraft in the process of visual navigation, and belongs to field of spacecraft navigation. Background technique [0002] Proximity operations require a spacecraft to carefully maintain a relatively close distance and a specified relative attitude to another spacecraft. Accurate acquisition of the complete six-degree-of-freedom position and attitude information of the target spacecraft is obviously a prerequisite for the success of the approach operation. In the context of relative visual navigation tasks, since the camera observation target features are located on the surface of the spacecraft away from the center of mass, the estimation error cau...

AI Technical Summary

Problems solved by technology

[0005]Technical problem solving of the present invention: overcome the deficiencies in the prior art, and solve the problems caused by the lack of relative angular velocity and relative linear velocity measurement information in the vision navigation task of spacecraft approaching operation The problem of pose estimation accuracy decline provides a method for non-cooperative spacecraft pose and pose integrated estimation and inertial parameter determination. By establishing a space rigid-body spacecraft six-degree-of-freedom attitude kinematics and dynamics model under the dual quaternion framework description, Then select the dual quaternion vector part, the dual angular velocity vector part and the error of the moment of inertia ratio as the state variable, deduce the state equation and the observation equation, and design a new multiplicative extended Kalman filter to solve the lack of relative measurement information Under the problem of pose estimation accuracy decline, realize online estimation of the real-time pose and inertial parameters of the target spacecraft, and improve the accuracy of on-orbit mission execution

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