Monocular method for parameter estimation of symmetric-inertia uncooperative targets

CHI Hao; LIU Yu; CHEN Ken; FENG Weichun; ZHANG Jiwen

doi:10.16511/j.cnki.qhdxxb.2022.21.020

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Journal of Tsinghua University(Science and Technology) ›› 2022, Vol. 62 ›› Issue (9) : 1492-1499. DOI: 10.16511/j.cnki.qhdxxb.2022.21.020

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Monocular method for parameter estimation of symmetric-inertia uncooperative targets

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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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uncooperative target / parameter estimation / monocular vision / data filtering

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CHI Hao, LIU Yu, CHEN Ken, FENG Weichun, ZHANG Jiwen. Monocular method for parameter estimation of symmetric-inertia uncooperative targets[J]. Journal of Tsinghua University(Science and Technology). 2022, 62(9): 1492-1499 https://doi.org/10.16511/j.cnki.qhdxxb.2022.21.020

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