点击次数：

所属单位：航天学院

发表刊物：Int. J. Aerosp. Eng.

摘要：Autonomous on-orbit servicing is the future space activity which can be utilized to extend the satellite life. Relative pose estimation for a malfunctioned satellite is one of the key technologies to achieve robotic on-orbit servicing. In this paper, a relative pose determination method by using point cloud is presented for the final phase of the rendezvous and docking of malfunctioned satellites. The method consists of three parts: (1) planes are extracted from point cloud by utilizing the random sample consensus algorithm. (2) The eigenvector matrix and the diagonal eigenvalue matrix are calculated by decomposing the point cloud distribution matrix of the extracted plane. The eigenvalues are utilized to recognize rectangular planes, and the eigenvector matrix is the attitude rotation matrix from the sensor to the plane. The solution of multisolution problem is also presented. (3) An extended Kalman filter is designed to estimate the translational states, the rotational states, the location of mass center, and the moment-of-inertia ratios. Because the method only utilizes the local features without observing the whole satellite, it is suitable for the final phase of rendezvous and docking. The algorithm is validated by a series of mathematical simulations. © 2019 Feng Yu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

ISSN号：1687-5966

是否译文：否

发表时间：2019-01-01

合写作者：F70206675,张燕华

通讯作者：郁丰