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针对近距离编队飞行中位姿估计问题,提出了一种新的点到区域匹配航天器间视觉相对位姿估计算法。给定主星表面上的点集及与之匹配的从星摄像机像平面图像凸区域,结合对偶四元数及凸优化数学工具,充分利用对偶四元数描述坐标系变换的简洁性,建立了对偶四元数凸优化位姿估计模型,估计出主星与从星之间的相对位姿参数。该算法不仅利用对偶四元数较传统四元数描述坐标系变换的优势,而且采用凸优化方法可大大降低传统位姿估计方法中需要精确的点到点匹配的要求。仿真结果证明,该算法能满足近距离编队相对位姿估计精度要求,具有较好的鲁棒性,对目前航天任务中航天器间视觉相对位姿估计具有重要参考价值。
Aiming at the problem of pose estimation in short range formation flight, a new algorithm of relative pose estimation between point-to-region matching spacecraft is proposed. Given the set of points on the surface of the main star and its corresponding convex area from the planar image of the star camera, combining the dual quaternion and convex optimization math tools, this paper makes full use of the dual quaternion to describe the simplicity of coordinate system transformation and establishes duality Quaternion convex optimization pose estimation model, estimated from the main star and the satellite from the relative pose parameters. The algorithm not only uses the advantage of dual quaternion to describe transformation of coordinate system as compared with traditional quaternion, but also adopts convex optimization method to greatly reduce the requirement of accurate point-to-point matching in traditional pose estimation method. The simulation results show that the proposed algorithm can meet the requirements of the relative pose estimation accuracy of short range formation and has good robustness, which is of important reference value for the estimation of the relative pose of spacecraft in space missions.