文章首先介绍了用于空间合作卫星最后逼近段交会对接任务的仿真平台,描述了文中使用的姿态运动学方程和视觉成像算法.为了充分利用陀螺仪和视觉系统进行姿态确定,采用传统的扩展卡尔曼滤波(EKF)对两种测量数据进行融合,实现对姿态和陀螺仪漂移的估计.为了克服EKF调节参数过多和计算过程需要求逆的问题,设计了一种新的非线性观测器.最后,通过在对接仿真平台上进行试验,对比验证了非线性滤波器的有效性以及实用性.%Firstly, the simulator was introduced to simulate the procedure of spacecraft rendezvous and docking. Then, attitude kinematics and pose from orthography and scaling with iterations (POSIT) algorithms were described. Secondly, extended Kalman filter (EKF) was used to integrate the data from two sensors so as to determine the relative attitude and gyro biases. Thirdly, a nonlinear observer was presented to overcome the difficulty of tuning the parameters of EKF and avoid solving the inverse of matrix during EKF updating. Finally, experiments were carried out upon 4-DOF air-bearing simulators. The experimental results validate the availability and precision of the proposed methods.
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