基于Rodrigues参数交互模型航天器相对位姿测量技术

Relative pose measurement technology of spacecraft based on Rodrigues parameter interaction model

摘要:

针对传统测量技术测量航天器相对位姿准确度较低的问题,引用Rodrigues参数交互模型研究了一种新的航天器相对位姿测量技术。利用Rodrigues参数建立航天器位姿采集模型,通过原向量、旋转轴、原向量和旋转轴的交叉积等向量作为标架,获得航天器旋转以后得向量组,利用四元数定理来减少计算航天器旋转向量的计算量,在观察三维空间内的坐标系间的向量变化曲线规律后,测量出交互模型的航天器相对位姿,得出基于罗德里格旋转参数交互模型结构图,确定罗德里格旋转参数模型与航天器的距离H和地面接收到的航天器相位位姿的误差。通过Harris角点检测方法计算航天器模拟图像的每个像素和灰度,通过像素和灰度信息进行条件随机场计算,分析航天器相对位姿特征,在多次寻找三维坐标系中查找相似的最近临近点和次临近点后,合理匹配,确定航天器相对位姿。实验结果表明,基于Rodrigues参数交互模型航天器相对位姿测量技术测量的精准度比传统技术高出25.88%,实用性更强。

Abstract:

Traditional measurement techniques have low accuracy in measuring the relative pose of spacecraft. Aiming at the above problems, a new spacecraft relative position and attitude measurement technology was studied using the Rodrigues parameter interaction model. Rodrigues parameters are used to establish the spacecraft pose acquisition model. The original vector, the rotation axis, the cross product of the original vector and the rotation axis are used as frames to obtain the vector group obtained after the rotation of the spacecraft. The quaternion theorem is used to reduce the calculation of aerospace The calculation amount of the rotation vector of the spacecraft, after observing the law of the vector change curve between the coordinate systems in the three-dimensional space, the relative pose of the spacecraft of the interaction model is measured, and the structure diagram of the interaction model based on Rodrigue"s rotation parameters is obtained to determine Rodrigues. The distance H of the lattice rotation parameter model from the spacecraft and the phase and pose errors of the spacecraft received on the ground. Calculate each pixel and grayscale of the spacecraft simulation image by Harris corner detection method, perform conditional random field calculation based on the pixel and grayscale information, analyze the relative pose characteristics of the spacecraft, and find similar ones in the three-dimensional coordinate system for multiple searches After the nearest point and the second point are reasonably matched, the relative position of the spacecraft is determined. The experimental results show that the accuracy of spacecraft relative pose measurement technology based on Rodrigues parameter interaction model is 25.88% higher than that of traditional technology, and it is more practical.