Next Article in Journal
A Multi-Level Operation Method for Improving the Resilience of Power Systems under Extreme Weather through Preventive Control and a Virtual Oscillator
Previous Article in Journal
Design, Fabrication and Evaluation of a Stretchable High-Density Electromyography Array
 
 
Search for Articles:
Title / Keyword
Author / Affiliation / Email
Journal
Article Type
 
 
Advanced Search
 
Section
Special Issue
Volume
Issue
Number
Page
 
Journals
Sensors
Volume 24
Issue 6
10.3390/s24061811
sensors-logo
Submit to this Journal Review for this Journal Propose a Special Issue
► Article Menu

Article Menu

share Share announcement Help format_quote Cite question_answer Discuss in SciProfiles
first_page
settings
Order Article Reprints
Font Type:
Arial Georgia Verdana
Font Size:
Aa Aa Aa
Line Spacing:
Column Width:
Background:
Article

Relative Motion Estimation Algorithm for Noncooperative Targets Considering Multiple Solutions of Rotational Parameters

by
Qiyang Hu
1,
Shunan Wu
1,*,
Fanchen Meng
2 and
Zhigang Wu
1
1
School of Aeronautics and Astronautics, Shenzhen Campus of Sun Yat-sen University, Shenzhen 518107, China
2
Beijing Institute of Aerospace Control Devices, Beijing 100094, China
*
Author to whom correspondence should be addressed.
Sensors 2024, 24(6), 1811; https://doi.org/10.3390/s24061811
Submission received: 19 September 2023 / Revised: 21 February 2024 / Accepted: 8 March 2024 / Published: 12 March 2024
(This article belongs to the Special Issue Sensors and Robots for Space Applications)
Browse Figures
Versions Notes

Abstract

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.
Keywords: relative motion estimation; noncooperative target; on-orbit servicing; Kalman filter relative motion estimation; noncooperative target; on-orbit servicing; Kalman filter

Share and Cite

MDPI and ACS Style

Hu, Q.; Wu, S.; Meng, F.; Wu, Z. Relative Motion Estimation Algorithm for Noncooperative Targets Considering Multiple Solutions of Rotational Parameters. Sensors 2024, 24, 1811. https://doi.org/10.3390/s24061811

AMA Style

Hu Q, Wu S, Meng F, Wu Z. Relative Motion Estimation Algorithm for Noncooperative Targets Considering Multiple Solutions of Rotational Parameters. Sensors. 2024; 24(6):1811. https://doi.org/10.3390/s24061811

Chicago/Turabian Style

Hu, Qiyang, Shunan Wu, Fanchen Meng, and Zhigang Wu. 2024. "Relative Motion Estimation Algorithm for Noncooperative Targets Considering Multiple Solutions of Rotational Parameters" Sensors 24, no. 6: 1811. https://doi.org/10.3390/s24061811

APA Style

Hu, Q., Wu, S., Meng, F., & Wu, Z. (2024). Relative Motion Estimation Algorithm for Noncooperative Targets Considering Multiple Solutions of Rotational Parameters. Sensors, 24(6), 1811. https://doi.org/10.3390/s24061811

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

Article Metrics

Back to TopTop