基于TOF(time of flight)相机设计一种融合目标二维灰度信息与三维点云信息的位姿估计算法框架,解算追踪星与非合作目标之间的相对位姿.该算法框架使用TOF相机获取的目标的灰度图像和三维点云数据,采用基于弧段的椭圆提取方法和ICP(iter...基于TOF(time of flight)相机设计一种融合目标二维灰度信息与三维点云信息的位姿估计算法框架,解算追踪星与非合作目标之间的相对位姿.该算法框架使用TOF相机获取的目标的灰度图像和三维点云数据,采用基于弧段的椭圆提取方法和ICP(iterative closest point)点云迭代方法求解非合作目标的相对位姿信息.融合了基于灰度图像的图像处理算法与基于点云的位姿优化迭代算法提高了位姿解算算法的精度与鲁棒性,通过地面测试试验验证了所提算法框架的性能.在轨试验表明本文所提算法框架可以稳定有效地解算超近程空间非合作目标的相对位姿,为追踪星GNC分系统提供可靠导航信息且TOF相机输出相对位姿精度优于2°、5 cm.展开更多
Allan variance(AV)stochastic process identification method for inertial sensors has successfully combined the wavelet transform denoising scheme.However,the latter usually employs a traditional hard threshold or soft ...Allan variance(AV)stochastic process identification method for inertial sensors has successfully combined the wavelet transform denoising scheme.However,the latter usually employs a traditional hard threshold or soft threshold that presents some mathematical problems.An adaptive dual threshold for discrete wavelet transform(DWT)denoising function overcomes the disadvantages of traditional approaches.Assume that two thresholds for noise and signal and special fuzzy evaluation function for the signal with range between the two thresholds assure continuity and overcome previous difficulties.On the basis of AV,an application for strap-down inertial navigation system(SINS)stochastic model extraction assures more efficient tuning of the augmented 21-state improved exact modeling Kalman filter(IEMKF)states.The experimental results show that the proposed algorithm is superior in denoising performance.Furthermore,the improved filter estimation of navigation solution is better than that of conventional Kalman filter(CKF).展开更多
The energy distribution model of motion blurred star point is analyzed.The distribution of the star point approximates to a two-dimensional(2 D) Gaussian distribution under degeneration.Two multi-parameter nonlinear G...The energy distribution model of motion blurred star point is analyzed.The distribution of the star point approximates to a two-dimensional(2 D) Gaussian distribution under degeneration.Two multi-parameter nonlinear Gaussian fitting methods(GFMs) are proposed,and the relationship between fitting parameters and motion blur parameters is analyzed.Estimation of the parameters of motion blur by fitting parameters is calculated to realize the error compensation of the motion blur.The simulation results show the effectiveness and accuracy.展开更多
文摘基于TOF(time of flight)相机设计一种融合目标二维灰度信息与三维点云信息的位姿估计算法框架,解算追踪星与非合作目标之间的相对位姿.该算法框架使用TOF相机获取的目标的灰度图像和三维点云数据,采用基于弧段的椭圆提取方法和ICP(iterative closest point)点云迭代方法求解非合作目标的相对位姿信息.融合了基于灰度图像的图像处理算法与基于点云的位姿优化迭代算法提高了位姿解算算法的精度与鲁棒性,通过地面测试试验验证了所提算法框架的性能.在轨试验表明本文所提算法框架可以稳定有效地解算超近程空间非合作目标的相对位姿,为追踪星GNC分系统提供可靠导航信息且TOF相机输出相对位姿精度优于2°、5 cm.
文摘Allan variance(AV)stochastic process identification method for inertial sensors has successfully combined the wavelet transform denoising scheme.However,the latter usually employs a traditional hard threshold or soft threshold that presents some mathematical problems.An adaptive dual threshold for discrete wavelet transform(DWT)denoising function overcomes the disadvantages of traditional approaches.Assume that two thresholds for noise and signal and special fuzzy evaluation function for the signal with range between the two thresholds assure continuity and overcome previous difficulties.On the basis of AV,an application for strap-down inertial navigation system(SINS)stochastic model extraction assures more efficient tuning of the augmented 21-state improved exact modeling Kalman filter(IEMKF)states.The experimental results show that the proposed algorithm is superior in denoising performance.Furthermore,the improved filter estimation of navigation solution is better than that of conventional Kalman filter(CKF).
文摘The energy distribution model of motion blurred star point is analyzed.The distribution of the star point approximates to a two-dimensional(2 D) Gaussian distribution under degeneration.Two multi-parameter nonlinear Gaussian fitting methods(GFMs) are proposed,and the relationship between fitting parameters and motion blur parameters is analyzed.Estimation of the parameters of motion blur by fitting parameters is calculated to realize the error compensation of the motion blur.The simulation results show the effectiveness and accuracy.
