A Method for Relative Pose and Inertia Estimation of Completely Non-cooperative Targets in Space

Abstract

The invention discloses a method for estimating the relative pose and inertia of a completely non-cooperative target in space. Step 1: Obtain the image information of the non-cooperative target in real time by two industrial cameras set on the tracking spacecraft with left and right intervals and with the same parameters, and calculate The 3D position and velocity of each feature point in the camera coordinate system; step 2, according to the rigid body motion model, calculate the relative angular velocity of the non-cooperative target from the 3D position and velocity of at least three feature points; estimate the relative angular velocity of the non-cooperative target at any time Attitude; step three, 3D position and velocity and relative attitude and relative angular velocity of the rigid body, to estimate the position of the center of mass, the velocity of the center of mass and the relative position of the feature point of the non-cooperative target; step four, estimate the moment of inertia parameter of the non-cooperative target. On the premise that the geometric shape and the position of feature points of the completely non-cooperative target are not known a priori, the position of the center of mass, the velocity of the center of mass, the relative attitude, the relative angular velocity and the inertia parameters of the completely non-cooperative target can be calculated.

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 on a priori known shape and geometric dimensions, or require a priori known position of feature points on the target and the moment of inertia of the target, or require a priori known CAD model of the target, these targets are strictly speaking not totally non-cooperative target

However, the SLAM method used to solve the center of mass position, linear velocity, relative attitude, relative angular velocity, and inertia parameters of space-rotating non-cooperative targets requires a large amount of calculation and takes a long time, so it can only be calculated offline.

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