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应用科学学报 ›› 2012, Vol. 30 ›› Issue (3): 311-316.doi: 10.3969/j.issn.0255-8297.2012.03.016

• 论文 • 上一篇    下一篇

对偶四元数在航天器相对导航中的应用

李静1， 王惠南2， 刘海颖3   

  1. 1. 南京航空航天大学自动化学院，南京210016
    2. 南京航空航天大学航天学院，南京210016
    3. 南京航空航天大学高新技术研究院，南京210016
  • 收稿日期:2011-05-28 修回日期:2011-07-25 出版日期:2012-05-30 发布日期:2012-05-30
  • 通信作者: 李静，博士生，研究方向：惯性导航、卫星位姿控制，E-mail: liyejing8110@126.com； E-mail:liyejing8110@126.com
  • 作者简介:李静，博士生，研究方向：惯性导航、卫星位姿控制，E-mail: liyejing8110@126.com；王惠南，教授，博导，研究方向：INS/GPS组合导航、惯性技术，E-mail：whn@nuaa.edu.cn
  • 基金资助:

    国家自然科学基金(No.60974107)；南京航空航天大学基本科研业务专项(No.2010219)资助

Application of Dual Quaternion in Spacecraft Relative Navigation

LI Jing1, WANG Hui-nan2, LIU Hai-ying3   

  1. 1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
    2. College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
    3. Academy of Frontier Science, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
  • Received:2011-05-28 Revised:2011-07-25 Online:2012-05-30 Published:2012-05-30

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1608

被引次数

7

摘要：

为了提高航天器相对位置和姿态测量的实时性和准确性，提出一种利用对偶四元数位姿模型来求解航天器相对位姿的方法. 该方法统一考虑目标航天器和追踪航天器本体坐标系间的相对旋转和平移，采用螺旋向量法更新对偶四元数. 建立了相机测量模型来测量航天器的相对位置和姿态，并选择扩展的卡尔曼滤波来消除随机噪声对状态更新和测量过程的干扰. 仿真结果表明该导航算法能满足航天器相对导航的精度要求，验证了该算法的可行性.

关键词: 航天器, 对偶四元数, 相对导航, 相对位姿, 扩展的卡尔曼滤波

Abstract:

To improve accuracy and real-time performance in relative positioning and measurement of attitude
information meterage of spacecraft, a dual quaternion model is introduced. The method described combines
relative rotation and translation between target spacecrafts and the spacecraft tracing coordinates. It uses a
spiral vector method to calculate the renovated dual quaternion. A camera survey model is constructed to
measure the relative position and attitude of the spacecraft. The extended Kalman filter (EKF) is used to
eliminate noise jamming caused in the state updating and the measurement processes. Simulation results show
that the navigation algorithm satisfies the precision requirements of spacecraft relative navigation.

Key words: spacecraft, dual quaternion, relative navigation, relative position and attitude, extended Kalman filter (EKF)

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