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Small celestial body flexible attachment multi-node relative pose estimation method

A technology of relative pose and flexible attachment, applied in the field of deep space exploration, can solve the problems of low stiffness, difficulty in estimating the pose and attitude of the flexible lander, and large scale of the flexible lander, and achieve the effect of improving the estimation accuracy.

Pending Publication Date: 2021-10-08
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the flexible lander has a large scale and low stiffness, and has a certain deformation during the attachment process, which brings difficulties to the pose estimation of the flexible lander

Method used

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  • Small celestial body flexible attachment multi-node relative pose estimation method
  • Small celestial body flexible attachment multi-node relative pose estimation method
  • Small celestial body flexible attachment multi-node relative pose estimation method

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Embodiment 1

[0103] Embodiment 1: In order to verify the feasibility and beneficial effects of the method of the present invention, this embodiment takes a three-node flexible lander as an example.

[0104] Such as figure 1 As shown, the specific implementation steps of the multi-node relative pose estimation method for flexible attachment of small celestial bodies disclosed in this embodiment are as follows:

[0105] Step 1: Establish a characteristic curve optical navigation observation model for the relative pose estimation of small celestial bodies with flexible attachment to multiple nodes.

[0106] Since the surface of the small celestial body has geomorphic features such as craters and rocks, information such as feature points and quadratic curves can be obtained after image processing. The navigation scheme adopts optical navigation, each node is equipped with an optical camera, and one of the nodes is equipped with a laser range finder. Taking three nodes as an example, the sche...

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Abstract

The invention discloses a small celestial body flexible attachment multi-node relative pose estimation method, and belongs to the technical field of deep space exploration. The implementation method comprises the following steps of establishing a characteristic curve optical navigation observation model for estimating the flexible attachment multi-node relative pose of a small celestial body; under a same frame, constructing an inter-node relative pose equation by using a characteristic curve containing much information, and obtaining a more accurate homography matrix by resolving the inter-node relative pose equation; normalizing a homography matrix, carrying out singular value decomposition on the normalized homography matrix, and obtaining the relative poses among the nodes through priori information screening, namely improving the estimation precision of the relative poses among the small celestial body flexible attachment multiple nodes by utilizing the characteristic curve containing much information, so that support is provided for the subsequent accurate control of the attitude of a flexible lander. In addition, by introducing the same-frame curve feature information, inter-frame information is supplemented, and support can be provided for the follow-up correction of the inter-frame information.

Description

technical field [0001] The invention relates to a multi-node relative pose estimation method, in particular to a multi-node relative pose estimation method for flexible attachment of small celestial bodies, and belongs to the technical field of deep space exploration. Background technique [0002] In recent years, the detection of small celestial bodies has gradually become a key field of deep space exploration. At present, humans have carried out 23 small celestial body detection missions. Small celestial body detection activities have important scientific significance for humans to understand the universe and the origin of the solar system. The attachment of small celestial bodies is an important prerequisite for carrying out in-situ detection and sample return on the surface of small celestial bodies. However, the gravitational field of small celestial bodies is weak, and the traditional rigid attachment is prone to overturning, rebounding or even escape, which seriously...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/02G01C21/20G06F17/16G06F30/20
CPCG01C21/005G01C21/02G01C21/20G06F17/16G06F30/20Y02T10/40
Inventor 崔平远修文博朱圣英龙嘉腾梁子璇
Owner BEIJING INSTITUTE OF TECHNOLOGYGY