Free floating target pose prediction method based on hybrid Kalman filtering

A technology of Kalman filter and Kalman filter, which is applied in measuring devices, integrated navigators, surveying and navigation, etc., can solve the problems of large amount of calculation, large error of results, and inability to make full use of historical observation data, etc., to achieve real-time estimation , The process is simple and convenient, and the calculation speed is fast

Inactive Publication Date: 2020-05-19
WUHAN UNIV
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Problems solved by technology

[0004] There are some problems in the above method. The first one is to directly use the observation data to solve various parameters, and the historical observation data cannot be fully utilized, resulting in large error in the results. The second is to use the optimization method to solve the high-dimensional optimization problem directly, and the amount of calculation larger

Method used

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  • Free floating target pose prediction method based on hybrid Kalman filtering
  • Free floating target pose prediction method based on hybrid Kalman filtering
  • Free floating target pose prediction method based on hybrid Kalman filtering

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Embodiment Construction

[0057] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0058] Such as image 3 In the grasping scene shown, the target is in a floating state without any external force, and moves at a constant angular velocity and linear velocity. The pose of the grasping point can be fed back in real time through the camera, and the hybrid Kalman filter is used to estimate the entire Motion information and inertial parameters of floating targets.

[0059] Suppose the pose of the grabbing point obtained by the camera is: p=[x,y,z], φ(e,θ)

[0060] The Euler kinetic equation of the target is:

[0061]

[0062]Select state observations as

[0063] X=[q T ω T I T ] T

[0064]

[0065] where Ω(ω) is the transformation matrix of the quaternion, and

[0066] The state equation of the system can be expressed as:

[0067]

[0068] At this time, the Jacobian matrix of the state equation can be expressed as:

[006...

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Abstract

The invention relates to a free floating target pose prediction method based on hybrid Kalman filtering. The method comprises steps of 1, establishing a free floating target kinetic model; 2, designing a hybrid Kalman filter, and estimating a motion state and kinetic model parameters by using the hybrid Kalman filter; and 3, predicting a future period of time track of a floating target by utilizing the estimated motion parameters. The method is advantaged in that aPose parameters of the target are represented by axial angles, the positions are recorded as independent motions of three axes, theestimated motion information is used for predicting the position and the pose in a future period of time, and the pose of a certain moment in the future is obtained. The method is advantaged in thatlong-period prediction of the free floating target track is carried out in real time in a rolling mode, accuracy is good, and thereby a foundation is laid for follow-up mechanical arm capturing.

Description

technical field [0001] The invention belongs to the field of pose prediction of a free-floating target, in particular to a method for predicting the pose of a free-floating target based on a hybrid Kalman filter. Background technique [0002] Space robots will play an increasingly important role in future space activities, and they have broad application prospects in cleaning up space debris, on-orbit maintenance, space construction, and stabilizing satellite orbits and other large-scale space structures. Important tasks of space robots include capturing satellites or other similar objects in orbit in order to recover and repair failed satellites, rescue manned spacecraft that is out of control, or remove larger space debris. Most of them cannot measure their own motion and attitude information, and become non-cooperative targets, and may roll at a large angular velocity. Most of the current methods use the camera to measure the pose of the non-cooperative target, identify ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/24G01C21/00
CPCG01C21/005G01C21/24
Inventor 肖晓晖张勇汤自林赵尚宇
Owner WUHAN UNIV
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