| 对偶四元数在航天器相对导航中的应用 |
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| 引用本文： | 李静,王惠南,刘海颖.对偶四元数在航天器相对导航中的应用[J].应用科学学报,2012,30(3):311-316. |
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| 作者姓名： | 李静 王惠南 刘海颖 |
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| 作者单位： | 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 |
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| 基金项目： | 国家自然科学基金，南京航空航天大学基本科研业务专项 |
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| 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.
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| 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 |
| 收稿时间： | 2011-05-28 |
| 修稿时间： | 2011-07-25 |
Application of Dual Quaternion in Spacecraft Relative Navigation |
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| LI Jing
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WANG Hui-nan
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LIU Hai-ying.Application of Dual Quaternion in Spacecraft Relative Navigation[J].Journal of Applied Sciences,2012,30(3):311-316. |
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| Authors: | LI Jing WANG Hui-nan LIU Hai-ying |
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| Institution: | 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 |
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| 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. |
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| Keywords: | spacecraft dual quaternion relative navigation relative position and attitude extended Kalman filter(EKF) |
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