上海交通大学学报

上海交通大学学报（自然版） ›› 2011, Vol. 45 ›› Issue (03): 398-402.

• 自动化技术、计算机技术 • 上一篇    下一篇

基于对偶四元数的交会对接相对位姿测量算法

张泽, 段广仁, 孙勇   

  1. (哈尔滨工业大学 控制理论与制导技术研究中心， 哈尔滨 150001)
  • 收稿日期:2010-10-13 出版日期:2011-03-30 发布日期:2011-03-30
  • 基金资助:

    国家自然科学基金资助项目（20060213037）

Algorithm for Relative Position and Attitude of  RVD Based on Dualquaternion

 ZHANG  Ze, DUAN  Guang-Ren, SUN  Yong   

  1. (Center for Control Theory and Guidance Technology , Harbin Institute of Technology, Harbin 150001, China)
  • Received:2010-10-13 Online:2011-03-30 Published:2011-03-30

摘要： 为了提高交会对接近距离段的相对位置姿态测量的实时性和准确性，提出了利用对偶四元数方法求解交会对接近距离段的相对位姿.该方法可以整体考虑追踪航天器坐标系和目标航天器坐标系间的相对旋转和平移，保持了刚体运动的完整性，克服了传统方法的缺陷.数值仿真验证了该方法的有效性.

关键词: 航天器, 交会对接, 相对位姿, 对偶四元数, 视觉测量

Abstract: Traditional algorithm for the determination of relative position and attitude between target spacecraft and tracking spacecraft of RVD is to obtain the direction cosine matrix and translation vector respectively, but this method can not hold the integrity of the rigid body motion, and also, the solving speed and convergence influence the realtime characteristic and the accuracy of the measurement. This paper proposed a new algorithm based on dualquaternion to overcome the disadvantage of the traditional method. The integrity of the relative rotation and translation between the two coordinates is considered. At last, the simulation results show the effectiveness of the new algorithm.

Key words:  spacecraft, rendezvous and docking, relative position and attitude, dualquaternion, vision measure

中图分类号: