Prediction method suitable for movement track of non-cooperative spinning object in space

A non-cooperative target, motion trajectory technology, applied in neural learning methods, image data processing, instruments, etc., can solve the problem that the prediction accuracy is difficult to effectively improve

Active Publication Date: 2017-03-29
NORTHWESTERN POLYTECHNICAL UNIV
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AI Technical Summary

Problems solved by technology

Newton Lagrangian interpolation and other methods are used for prediction by extr

Method used

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  • Prediction method suitable for movement track of non-cooperative spinning object in space
  • Prediction method suitable for movement track of non-cooperative spinning object in space

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Embodiment Construction

[0076] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0077] Such as figure 1 As shown, the detection method for obstacles near the capture point of the space tethered robot provided by the embodiment of the present invention includes:

[0078] Step 1: Calculate the target position in the camera coordinate system

[0079] Let the target position in the camera coordinate system be P(x c ,y c ,z c ), the target’s imaging position (u, v) in the camera coordinate system, the following formula holds:

[0080]

[0081] where (u 0 ,v 0 ) is the center of the image coordinate system, (a x ,a y ) is the effective focal length.

[0082] Step 2: Calculate the target position in the inertial coordinate system

[0083] Coordinate P(x w ,y w ,z w ) can be expressed as:

[0084]

[0085] Among them, the rotation matrix R and the translation matrix T are respectively:

[0086]

[0087] T=[t x ,t y ,t z ] ...

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Abstract

The invention relates to a prediction method suitable for a movement track of a non-cooperative spinning object in space. A position coordinate of the object in a camera coordinate system is obtained, and a position coordinate of the object in an inertia coordinate system is solved according to a known camera attitude; and an NAR neural network is constructed, a BPTT algorithm is used to train the neural network, the position value of the object is predicted and output after deviation convergence, and the system robustness and sampling continuity are ensured. Position information is used to calculate an attitude transformation quaternion, the attitude transformation quaternion is calculated via kinematical and kinetic equations according to estimated parameters, and an estimated parameter value of least square regression is used to calculate a prediction result via the equations. The method is applied to an in-orbit service task of the space, the object track can be traced rapidly and accurately, and long-term prediction information of the object track can be obtained after parameter convergence.

Description

technical field [0001] The invention belongs to the field of information processing and information fusion, and relates to a prediction method applicable to the trajectory of a non-cooperative spin target in space. Background technique [0002] Space intelligent robots have visual recognition and motion control systems, which can complete on-orbit capture and release of cooperative or non-cooperative targets, and perform space tasks such as orbital garbage cleaning and spacecraft on-orbit maintenance. In order to complete the on-orbit capture task of the target, in the process of approaching and docking the target, the target often has a certain linear velocity and angular velocity relative to the space intelligent robot. Since it takes a certain amount of time to process information and calculate the pose, real-time tracking It is very necessary to predict the trajectory of the target and to predict the trajectory of the moving target, and it is also the basis for the simul...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06T7/292G06N3/08
CPCG06N3/084
Inventor 黄攀峰韩冬陈路刘正雄孟中杰张夷斋张帆
Owner NORTHWESTERN POLYTECHNICAL UNIV
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