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时间:2019-11-26
《基于卡尔曼滤波的星敏感器在轨校准方法》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、第31卷2010年第6期6月航空学报ACTAAERONAUTICAETASTRONAUTICASlNICAVoL31No.6June2010文章编号:1000—6893(2010)06—1220—05基于卡尔曼滤波的星敏感器在轨校准方法申娟,张广军,魏新国(北京航空航天大学仪器科学与光电工程学院,北京100191)On-orbitCalibrationofStarSensorBasedonKalmanFilterShenJuan,ZhangGuangjan,WeiXinguo(schoolofInstrumentScienceandOptcrelectronicsEngineer
2、ing,BeijingUniversityofAeronauticsandAstronautics,Beringi0019I,China)摘要:根据星敏感器光学镜头以径向畸变为主的特点.采用一阶径向畸变模型.利用摄像机标定中的径向排列约束(RAC),对其外部姿态和内参数进行在轨校准。以采集到的星点的图像坐标和对应导航星在天球坐标系下的赤经,赤纬信息作为滤波器的输入,外部姿态和内参数作为输出,构造相应的状态方程和观测方程,进行两次卡尔曼滤波迭代,结果作为校准参数的最优估计。仿真实验表明:本方法能消除内部参数与外部参数的耦合,校准过程不依赖外部姿态,且状态方程和观测方程均为线性方程,
3、满足卡尔曼滤波迭代的最优条件,能够精确估计出星敏感器内外参数,在星点成像位置噪声标准差为0.05像素时,校准后z、Y方向上的平均误差分别为0.044像素和0.049像素。关键词:星敏感器;卡尔曼滤波;在轨校准;径向畸变模型;径向排列约束中图分类号:V448.22文献标识码:AAbstract:Anon-orbitcalibrationmethodofstarsensorbasedonKalmanfilterisproposedinthisarticle.Con—sideringthedistortionfeatureofmostopticalcameralens,internal
4、andexternalparametersofstarsensorarecalibratedseparatelyusingKalmanfilterwithfirst—orderradialdistortion.Takingtheimagecoordinatesandthecorrespondingcelestialcoordinatesofobservedstarpointsasthefilterinputsandtakingtheestimatedvalueoftheinternalandexternalstarsensorcameraparametersasthefilter
5、outputs,theoptimizedvalueofthein-ternalandexternalparametersareobtainedwithKalmanfilteralgorithm,whilestateequationandobservationequationforKalmanfilterareestablishedbasedonradialalignmentconstraint(RAC)whichiswidelyusedincameracalibrationofcomputervision.Thesimulationresultsindicatethatthism
6、ethodwhichisindependentorlexternalattitudescaneliminatethecouplingbetweenexternalparametersandinternalparameterseffectively,anditalsosatisfiestheoptimalqualificationdemandedbyKalmanfilterthatbothstateequationandobserva-tionequationarelinear.WhenthestandarddeviationofstarpositionalnoiseissettO
7、0.05pixels,theinternalandexternalparametersarecorrectlyobtainedandtheresidualerrorscanreach0.044pixelonaveragein工di-rectionand0.049pixelinYdirectionrespectively.Keywords:starsensor;Kalmanfilters;on-orbitcalibration;radialdistortionmodel;radia
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