【摘要】 提出了一种自由飞行机器人在中距离(几千米至几十米)范围内对非合作目标的导航方法,基于视觉导航相机和激光测距仪的组合测量方案,结合姿态敏感器和惯性器件的测量信息,通过推广Kalman滤波方法来估计自由飞行机器人与非合作目标的相对位置和速度信息。在近共面轨道和中距离接近的假设下,给出了一种简化的导航算法,在目标轨道参数未知的情况下也可以进行相对运动参数的估计,从而降低了算法的复杂性和运算量。仿真结果验证了上述导航方法和算法对非合作目标中距离相对导航的有效性,并获得了较好的导航精度。更多还原

【Abstract】 Based on the measurement method of using Visual Navigation Camera and Laser Ranger Finder,with combination of the measurement information of attitude sensor and inertial measurement unit,a navigation algorithm using an extended Kalman filter was proposed to estimate relative position and velocity of Free Flying Robot with respect to non-cooperative target.Under near coplanar orbit and mid-range distance assumption,a simplified navigation algorithm that can reduce complexity and computational effort of the proposed navigation algorithm was given.Even with unknown target orbital parameter,the relative motion parameter can also be estimated.Simulation results verify the validity of this navigation method and show a higher navigation accuracy.更多还原