Relative pose and inertia estimation method for spatial complete non-cooperative target

Abstract

The invention discloses a relative pose and inertia estimation method of a spatial complete non-cooperative target. The method comprises the steps that 1, two industrial computers which are arranged on a tracking spacecraft in a left-right spaced manner and are the same in parameters obtain image information of the non-cooperative target in real time, and 3D position and speed of each characteristic point in the camera coordinate system are calculated; 2, the relative angular velocity of the non-cooperative target is calculated from 3D positions and speeds of at least three characteristic points according to a rigid body motion model, and the relative pose of the non-cooperative target at random time is estimated; 3, the centroid position, the centroid speed and the relative positions of the characteristic points of the non-cooperative target are estimated according to the 3D positions and speeds as well as the relative pose and angular speed of the rigid body; and 4, a rotation inertia parameter of the non-cooperative target is estimated. Thus, the centroid position, the centroid speed, the relative pose, the relative angular speed and the inertial parameter of the complete non-cooperative target can be resolved needless of knowing the geometric shape and characteristic point positions of the complete non-cooperative target in advance.

Description

【Technical field】 [0001] The invention belongs to the technical field of navigation, and in particular relates to a method for estimating the relative pose and inertia of a completely non-cooperative target in space. 【Background technique】 [0002] In recent years, with the increasing frequency of human space activities, the number of space debris has risen sharply. As of January 2013, the large space debris (size not less than 10cm) cataloged by the Space Monitoring Network (SSN) under the US Strategic Command The number is close to 15,000, and the uncatalogued space debris smaller than 10cm (including small space debris smaller than 1mm and dangerous debris between large and small space debris) is even more difficult to estimate. The normal operation of space debris poses a serious threat, and it is urgent to carry out research on the removal of space debris. Compared with cooperative targets in traditional rendezvous and docking missions, non-cooperative targets such as ...

AI Technical Summary

Problems solved by technology

[0004] Compared with the cooperative targets in traditional rendezvous and docking missions, completely non-cooperative targets such as faulty satellites, failed spacecraft, and space debris lack cooperative information for navigation, such as measurement beacons, interactive communications, and model parameters, resulting in the traditional Navigation algorithm fails

Existing navigation algorithms applied to non-cooperative targets either rely on the model of the target, or the calculation is too large to realize online calculation

The above methods either rely ...

Images