Monocular method for parameter estimation of symmetric-inertia uncooperative targets
CHI Hao1, LIU Yu2, CHEN Ken1, FENG Weichun2, ZHANG Jiwen1
1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China; 2. Beijing Institute of Tracking and Telecommunications Technology, Beijing 100094, China
摘要针对失效卫星等空间非合作目标缺少信息交互,无法直接获取旋转运动参数与动力学参数的问题,提出一种惯量对称非合作目标参数的单目估计方法。首先建立动力学参数化模型,并推出模型几何参数与目标星参数的解析关系；然后在此基础上以单目相机图像作为输入,通过对实时定位与建图(simultaneous localization and mapping,SLAM)算法前端的含噪位姿结果进行多阶滤波,对角速度向量进行双锥体拟合的方法；最后实现目标星旋转运动学参数和动力学参数的全局最优估计。仿真结果表明,该方法能够快速、高精度地实现参数估计,相对误差小于0.9%。
Abstract：A monocular method is proposed to estimate the parameters of uncooperative targets whose inertia is equal crosswise, to solve the problem that uncooperative targets without communication, such as failed satellites, cannot provide their rotational motion parameters or dynamic parameters. First, a dynamic parameter model is given, and then an analytic expression for target parameters is created. On this basis, taking the monocular image sequence as an input, the noisy result of simultaneous localization and mapping (SLAM) techniques visual odometry is filtered multiple times, and rotational speed vectors are fitted to a double-cone model. Eventually, targets' rotational kinetic and dynamic global optimal parameters can be determined. The simulation results demonstrate that the method can estimate parameters efficiently and accurately, and the relative errors are less than 0.9%.
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2022, Vol. 62 
