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Pose Determination for Malfunctioned Satellites Based on Depth Information

机译:基于深度信息对故障卫星进行姿态确定

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摘要

Autonomous on-orbit servicing is the future space activity which can be utilized to extend the satellite life. Relative pose estimation for a malfunctioned satellite is one of the key technologies to achieve robotic on-orbit servicing. In this paper, a relative pose determination method by using point cloud is presented for the final phase of the rendezvous and docking of malfunctioned satellites. The method consists of three parts: (1) planes are extracted from point cloud by utilizing the random sample consensus algorithm. (2) The eigenvector matrix and the diagonal eigenvalue matrix are calculated by decomposing the point cloud distribution matrix of the extracted plane. The eigenvalues are utilized to recognize rectangular planes, and the eigenvector matrix is the attitude rotation matrix from the sensor to the plane. The solution of multisolution problem is also presented. (3) An extended Kalman filter is designed to estimate the translational states, the rotational states, the location of mass center, and the moment-of-inertia ratios. Because the method only utilizes the local features without observing the whole satellite, it is suitable for the final phase of rendezvous and docking. The algorithm is validated by a series of mathematical simulations.
机译:自主的轨道服务是未来的空间活动,可用于延长卫星寿命。故障卫星的相对姿势估计是实现机器人轨道服务的关键技术之一。本文介绍了使用点云的相对姿态确定方法,用于结束故障卫星的结束阶段。该方法由三个部分组成:(1)通过利用随机样本共识算法从点云中提取平面。 (2)通过分解提取平面的点云分布矩阵来计算特征向量矩阵和对角线特征值矩阵。特征值用于识别矩形平面,特征向量矩阵是从传感器到平面的姿态旋转矩阵。还提出了多突变问题的解决方案。 (3)扩展卡尔曼滤波器旨在估计翻译状态,旋转状态,质量中心的位置,以及惯性矩比。因为该方法仅利用本地特征而不观察整个卫星,所以它适用于结合和对接的最终阶段。该算法由一系列数学模拟验证。

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  • 来源
    《International journal of aerospace engineering》 |2019年第3期|6895628.1-6895628.15|共15页
  • 作者

    Yu Feng; Zhao Yi; Zhang Yanhua;

  • 作者单位

    Nanjing Univ Aeronaut & Astronaut Coll Astronaut Nanjing 210016 Jiangsu Peoples R China;

    Nanjing Univ Aeronaut & Astronaut Coll Astronaut Nanjing 210016 Jiangsu Peoples R China;

    Nanjing Univ Aeronaut & Astronaut Coll Astronaut Nanjing 210016 Jiangsu Peoples R China;

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  • 正文语种 eng
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