3 results about "Attitude determination" patented technology

The invention relates to a multi-sensor-based micro-satellite attitude determination method, which determines the attitude of a micro-satellite by using a MEMS gyro, a magnetometer and a sun sensor asattitude determination sensors based on an improved federated filtering algorithm. According to the present invention, the application background of the micro-satellite is fully considered, and the sensors with advantages of low cost, small volume, low power consumption and the like are selected as the attitude sensors, wherein the MEMS gyro is used as the main attitude sensor, the initial attitude determination information is obtained through integral, and the magnetometer and the sun sensor are used as the auxiliary attitude sensors to timely correct the attitude determination result of theMEMS gyros; and the improved federated filtering algorithm is provided, and achieves the attitude calculation and information fusion based on the sensors, such that the attitude determination precision of the micro-satellite attitude determination system is effectively improved, and the advantages of excellent good fault tolerance, good real-time performance and the like are provided.

The invention provides a new feature matching and relative positioning method considering space inverse projection constraints, and belongs to the technical field of visual navigation and positioning.The method comprises the following steps: shooting feature points extracted from land surface images by using a binocular camera in the advancing process of stations before and after an unknown environment by using an inspector of an extraterrestrial celestial body detector, and reversely calculating a feature light beam distance corresponding to each pair of feature points extracted from the images of the stations before and after the unknown environment by using a perspective projection transformation model; according to the characteristic light beam distance constraint and the traditionalcharacteristic point descriptor similarity constraint, establishing a new characteristic matching model of image matching and adjustment positioning cross combination; and according to the correct matching point pair determined by the new feature matching model, solving the position and attitude of the patrolling device at the new site through bundle adjustment. According to the invention, the positioning model and the feature registration are fused, mutual constraint of the positioning precision and the matching accuracy is realized, and the feature registration rate and the positioning precision are improved, so that high-precision attitude determination and positioning of the patrolling device are realized.