基于单目视觉的航天器相对导航理论与算法研究

上传者: shcnxjy | 上传时间: 2022-06-24 16:18:49 | 文件大小: 7.2MB | 文件类型: RAR
哈尔滨工业大学的一篇博士论文 基于单目视觉的航天器相对导航理论与算法研究 论文编码 66880 专业 飞行器设计 摘要:基于单目视觉系统的航天器相对导航理论是航天器接近任务的一项关键技术,本学位论文结合国家安全重大基础研究项目:“微型航天器新概念、新机理研究”(课题编号:51312)的子课题“微型航天器自主生存的理论与方法研究”,对基于单目视觉系统的合作与非合作航天器相对位姿导航参数确定理论进行深入研究,具体工作如下:在综合分析各国提出的基于视觉空间目标监视、检测或逼近等演示验证任务的基础上,提出了基于单目视觉实现空间目标检测、定位、跟踪和运动控制诸功能的非合作航天器单目视觉相对导航系统方案。推导了在不同目标特征的可分辨约束下,单目视觉测量系统的有效测量范围与目标特征的尺寸特征参数、视觉敏感器焦距和像素间距等之间的约束关系式,最后利用成像系统的角分辨率分析了视觉测量系统的测量精度,为航天器视觉系统的分析和设计提供必要的理论基础。针对合作航天器的单目视觉相对位姿导航参数确定任务,提出了四个特征光标非共面设置方 关键字:航天器 视觉导航 随机化RANSAC算法 共形几何代数 几何优化 基于几何 单目视觉 航天器 相对导航 优化理论 任务应用 法能 仿真结果 仿真验证 原型 曲棍球 照相侦察卫星 雷达成像 美国 最优化算法 求解 微分 矢量 数学模型 链状

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