Relative Motion Estimation Algorithm for Noncooperative Targets Considering Multiple Solutions of Rotational Parameters
On-orbit servicing using a space robot is gaining popularity among the space community for both economic and safety aspects. In particular, the estimation of the relative motion of a noncooperative target is a challenging problem. This study presents a relative motion estimation scheme based on ster...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-03-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/24/6/1811 |
| _version_ | 1827305079393222656 |
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| author | Qiyang Hu Shunan Wu Fanchen Meng Zhigang Wu |
| author_facet | Qiyang Hu Shunan Wu Fanchen Meng Zhigang Wu |
| author_sort | Qiyang Hu |
| collection | DOAJ |
| description | On-orbit servicing using a space robot is gaining popularity among the space community for both economic and safety aspects. In particular, the estimation of the relative motion of a noncooperative target is a challenging problem. This study presents a relative motion estimation scheme based on stereovision for noncooperative targets considering multiple solutions of rotational parameters. Specifically, the mass distribution of the target is identified based on the least-square method and the principle of conservation of angular momentum. Then, the determination of a unique principal axis coordinate frame of the target is employed to resolve the multiple-solution problem. In addition, an EKF (extended Kalman filter)-based filter with global observability is designed to estimate the full motion states and inertia parameters of the target. The convergence performance of the proposed method is verified by numerical simulation. The results also demonstrate that the method is robust to occlusion. |
| first_indexed | 2024-04-24T17:51:04Z |
| format | Article |
| id | doaj.art-dcf109e7c5784a4eba7ed73ba2dfef2c |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-24T17:51:04Z |
| publishDate | 2024-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-dcf109e7c5784a4eba7ed73ba2dfef2c2024-03-27T14:03:51ZengMDPI AGSensors1424-82202024-03-01246181110.3390/s24061811Relative Motion Estimation Algorithm for Noncooperative Targets Considering Multiple Solutions of Rotational ParametersQiyang Hu0Shunan Wu1Fanchen Meng2Zhigang Wu3School of Aeronautics and Astronautics, Shenzhen Campus of Sun Yat-sen University, Shenzhen 518107, ChinaSchool of Aeronautics and Astronautics, Shenzhen Campus of Sun Yat-sen University, Shenzhen 518107, ChinaBeijing Institute of Aerospace Control Devices, Beijing 100094, ChinaSchool of Aeronautics and Astronautics, Shenzhen Campus of Sun Yat-sen University, Shenzhen 518107, ChinaOn-orbit servicing using a space robot is gaining popularity among the space community for both economic and safety aspects. In particular, the estimation of the relative motion of a noncooperative target is a challenging problem. This study presents a relative motion estimation scheme based on stereovision for noncooperative targets considering multiple solutions of rotational parameters. Specifically, the mass distribution of the target is identified based on the least-square method and the principle of conservation of angular momentum. Then, the determination of a unique principal axis coordinate frame of the target is employed to resolve the multiple-solution problem. In addition, an EKF (extended Kalman filter)-based filter with global observability is designed to estimate the full motion states and inertia parameters of the target. The convergence performance of the proposed method is verified by numerical simulation. The results also demonstrate that the method is robust to occlusion.https://www.mdpi.com/1424-8220/24/6/1811relative motion estimationnoncooperative targeton-orbit servicingKalman filter |
| spellingShingle | Qiyang Hu Shunan Wu Fanchen Meng Zhigang Wu Relative Motion Estimation Algorithm for Noncooperative Targets Considering Multiple Solutions of Rotational Parameters Sensors relative motion estimation noncooperative target on-orbit servicing Kalman filter |
| title | Relative Motion Estimation Algorithm for Noncooperative Targets Considering Multiple Solutions of Rotational Parameters |
| title_full | Relative Motion Estimation Algorithm for Noncooperative Targets Considering Multiple Solutions of Rotational Parameters |
| title_fullStr | Relative Motion Estimation Algorithm for Noncooperative Targets Considering Multiple Solutions of Rotational Parameters |
| title_full_unstemmed | Relative Motion Estimation Algorithm for Noncooperative Targets Considering Multiple Solutions of Rotational Parameters |
| title_short | Relative Motion Estimation Algorithm for Noncooperative Targets Considering Multiple Solutions of Rotational Parameters |
| title_sort | relative motion estimation algorithm for noncooperative targets considering multiple solutions of rotational parameters |
| topic | relative motion estimation noncooperative target on-orbit servicing Kalman filter |
| url | https://www.mdpi.com/1424-8220/24/6/1811 |
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