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Dynamic pose estimation method and device

A pose estimation and dynamic technology, applied in the aerospace field, can solve the problems of poor real-time performance, long training time, and large amount of calculation, and achieve the effect of solving the problems of robustness and stability.

Active Publication Date: 2020-04-10
SHANGHAI AEROSPACE SYST ENG INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem solved by the present invention is: to overcome the shortcomings of the calculation method of the dynamic pose of the space vehicle in the prior art, the training time is long, the training calculation complexity is high, the calculation amount is large, and the real-time performance is poor, and a kind of dynamic pose estimation is provided Method and device

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  • Dynamic pose estimation method and device

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Embodiment 1

[0052] refer to figure 1 , shows a flowchart of steps of a dynamic pose estimation method provided by an embodiment of the present invention. Such as figure 1 As shown, the dynamic pose estimation method may include the following steps:

[0053] Step 101: Collect actual pose data of the spacecraft at multiple positions during flight.

[0054] The embodiments of the present invention may be applied in a scene of judging whether there is abnormal data in the pose data of the detected spacecraft during flight.

[0055] Spacecraft (Spacecraft) is a variety of aircraft that basically operate in accordance with the laws of celestial mechanics in the space outside the earth's atmosphere.

[0056] The space vehicle may be an artificial earth satellite, a space probe, a manned spacecraft, etc. Specifically, it may be determined according to actual conditions, which is not limited in the embodiments of the present invention.

[0057] The actual pose data refers to the specific posit...

Embodiment 2

[0144] refer to figure 2 , shows a schematic structural diagram of a dynamic pose estimation device provided by an embodiment of the present invention. Such as figure 2 As shown, the dynamic pose estimation device may include the following modules:

[0145] The actual pose data acquisition module 210 is used to collect the actual pose data of the spacecraft at multiple positions during the flight;

[0146] The predicted pose data prediction module 220 is configured to predict the predicted pose data of the spacecraft at the plurality of positions based on a pre-established generalized gray prediction model;

[0147] A difference absolute value calculation module 230, configured to calculate the difference absolute value between the actual pose data and the predicted pose data at each of the positions;

[0148] The abnormal data determining module 240 is configured to determine abnormal data among the plurality of actual pose data according to the absolute value of the dif...

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Abstract

The invention provides a dynamic pose estimation method and device. The method comprises the following steps: acquiring actual pose data of a spacecraft at multiple positions in a flight process; predicting predicted pose data of the spacecraft at the plurality of positions based on a pre-established generalized grey prediction model; calculating an absolute value of a difference value between theactual pose data and the predicted pose data at each position; and determining abnormal data in the plurality of pieces of actual pose data according to the difference absolute value and the error threshold corresponding to each position. According to the method, the abnormal value in the pose measurement process can be detected, the abnormal value is prevented from being applied to subsequent tasks, and the problems of robustness and stability of a measurement system in a complex environment are solved.

Description

technical field [0001] The invention relates to the field of aerospace technology, in particular to a dynamic pose estimation method and device. Background technique [0002] The relative position and orientation measurement between spacecraft is a necessary prerequisite for the realization of relative navigation of space missions, and the real-time and accuracy of the measurement will determine the success or failure of the mission. In the process of continuous pose measurement, most of the measured data show the characteristics of steady change. However, affected by the measurement environment such as lighting conditions, shooting angles, complex backgrounds or image noise (especially when the measurement distance is long), the smooth position There may be some outliers in the attitude measurement data curve, and these outliers have large errors and cannot be applied to subsequent tasks. [0003] Usually, vision-based pose measurement algorithms are static algorithms, tha...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/24G06N3/00
CPCG01C21/20G01C21/24G06N3/006
Inventor 吴斌谢立金健张青青李亮
Owner SHANGHAI AEROSPACE SYST ENG INST
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