Design of relative measurement system for docking and separation platform based on MIMU/CCD
暂无分享,去创建一个
In order to provide the physical platform for docking and separation ground test, the MIMU/CCD relative measurement system of docking and separation platform was designed. After the simplified model of platform was described, the sensors' measurement models were given, and the relative position and relative pose motion equations of test simultor were deduced. Based on federated filter algorithm, the information fuse measurement algorithm of relative navigation system was designed, which included two sub-systems, the first one, which composes of MIMU and vision measurement unit, was designed to compensate the measurement for the biase of MIMU, the second one adopted the ceiling CCD to correct the simultor's CCD. Finally, through the test of rendezvous and docking, the simulation results showed that navigation accuracy of the measurement system was effective.
[1] P. J. Escamilla-Ambrosio,et al. A hybrid Kalman filter-fuzzy logic architecture for multisensor data fusion , 2001, Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206).
[2] David K. Geller,et al. Navigating the Road to Autonomous Orbital Rendezvous , 2007 .