基于马达代数的交会对接相对位姿测量算法

摘要

Accurate measurement of the relative position and attitude between the active spacecraft and the target spacecraft is the key to the successful completion of rendezvous and docking (RVD ) mission . In the traditional vector measurement methods , the position and attitude are usually treated separately , w hich led to the difficulty of algorithm design and computational complexity . A new binocular vision measurement algorithm based on motor algebra was proposed to uniformly describe the relative position and the attitude of the two RVD spacecraft . This new algorithm has a more concise form and some computational advantages compared to the traditional methods .The relative position and attitude determination problem was simplified to solving two linear equations . Simulation results show that the algorithm can meet the measurement accuracy requirements of RVD missions .%精确测量追踪航天器与目标航天器之间的相对位姿关系是成功完成航天器交会对接任务的关键。传统的位姿测量算法将旋转和平移分而视之，破坏了三维运动的统一性，同时增加了算法的复杂性和计算难度。针对这个问题，采用双目视觉测量方法，在马达代数框架内，以两个特征光点确定的特征直线为变换基元，统一描述并设计算法测量追踪与目标航天器之间的位姿关系，最终将两航天器之间的相对位姿解算问题简化为求解两个线性方程组。该方法在计算形式上更为简洁，且测量受特征光点的安装位置限制较小。仿真结果表明，算法具有较高的精度和稳定性，可以满足航天器交会对接任务的要求。