【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.更多还原

【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.更多还原