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利用四个非共面设置的特征光标和单个CCD相机,采用单位四元素来描述航天器相对姿态,基于比例正交投影近似假设,建立目标航天器已知特征光标物理坐标和对应图像点图像坐标之间的简化数学模型,以解析的形式给出了航天器间相对位姿参数(相对位置和姿态),并对解析解进行修正。对该算法进行数学仿真,仿真结果表明,算法简单可靠,能够满足航天器确定精度和实时计算的要求。
Four non-coplanar eigenvectors and a single CCD camera were used to describe the relative attitude of the spacecraft with four elements of a unit. Based on the approximate assumption of proportional orthogonal projection, the physical coordinates of the target spacecraft and the coordinates of the corresponding image point , A simplified mathematical model between the spacecraft relative attitude and attitude (relative position and attitude) is given analytically and the analytical solution is corrected. The algorithm is mathematically simulated. The simulation results show that the algorithm is simple and reliable, and can meet the requirements of spacecraft to determine the accuracy and real-time calculation.