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Study on Algorithms and Hardware-In-The-Loop Simulation of Integrated Vision/Inertial Relative Navigation

Author: ZengZhanKui
Tutor: CaoXiBin
School: Harbin Institute of Technology
Course: Aircraft design
Keywords: Spacecraft Relative Navigation Visual / inertial integrated navigation Information Fusion of multi-rate Kalman Physical simulation
CLC: V448.2
Type: Master's thesis
Year: 2007
Downloads: 524
Quote: 2
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Abstract


Relative navigation technology is a key technology for formation flying, space attack and defense, and spacecraft rendezvous and docking close to the operation task. In this paper, the major basic research projects of the national security of the sub-topics \rate information fusion problem. Relative navigation physical simulation system based on the tiny satellite five degrees of freedom simulation platform (MicroSim platform) relative navigation algorithm and proposed physical simulation. The main research results are as follows: First, rendezvous and docking, the final approach segment as the research background, close relative navigation features derived monocular visual navigation algorithm based on four coplanar feature points, and its error analysis and mathematical simulation. Monocular vision relative navigation algorithm based on the respective advantages and disadvantages of monocular vision and inertial navigation systems, monocular vision / INS relative navigation at close range segment. Multirate sampling problems inherent in the combination of navigation mode, a multi-rate Kalman information fusion algorithm. The algorithm entire filtering process is divided into measurement update and time update two separate stages, and select the fast rate of the sampling period of the inertial navigation system integrated navigation filter cycle, to determine whether the slow rate of visual navigation information filtering time measurement updates. The theoretical analysis and mathematical simulation show that the algorithm can improve the data update frequency of the filter, thus improving the performance of the filter, navigation system redundancy. Secondly, based on the tiny satellite five degrees of physical simulation platform (MicroSim platform), to solve the internal and external visual camera parameter calibration target feature point cursor design and image processing algorithms, and other key issues, physical simulation system for spacecraft relative navigation the platform with the capacity of the physical simulation of a variety of types of relative navigation system. Finally, the spacecraft relative navigation using the established physical simulation system, relative navigation algorithm, as well as multi-rate Kalman information fusion algorithm for the physical simulation of monocular vision. And simulation results with mathematical simulation comparison to verify the validity of the relative navigation algorithm to verify the practicality of relative the Navigation physical simulation system.

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CLC: > Aviation, aerospace > Aerospace ( Astronauts ) > Space instrument,spacecraft devices,spacecraft guidance and control > Guidance and Control > Spacecraft guidance and control
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