基于多点合作目标的多线阵ccd空间物体姿态测量的分析-analysis of attitude measurement of multi-linear ccd space objects based on multi-point cooperative targets.docx

测量位置误差对姿态解算结果的影响，研究了不同的姿态解算方法对空间点位置误差的敏感程度。为了提高线阵 CCD 相机姿态测量系统校准的精度，提出了基于 BP(Back Propagation)神经网络校准线阵 CCD 相机的方法。解决了采用直接线性变换法 校准相机时忽略的镜头畸变和系统误差等非线性误差的问题，不需要建立复杂 的非线性补偿模型，简化了计算。充分利用了 BP 神经网络能够实现从输入到 输出的任意非线性映射的特点，通过训练学习三维空间物体标识点与其在线阵 CCD 像点之间的非线性映射关系，实现外姿态测量系统线阵 CCD 相机的校准， 直接恢复空间点合作目标的三维信息。最后对课题所提出的方法和模型进行了实验验证。首先，对所提出的基于 BP 神经网络校准线阵 CCD 相机的方法进行了实验验证。实验表明：使用全站 仪测量点合作目标的三维坐标时，采用 BP 神经网络对线阵 CCD 相机校准，误 差波动性比 DLT 方法减小了 93%。其次，对所建立的姿态解算模型进行了实验 验证。实验表明：在未损失计算精度的前提下，采用 Rodrigues 参数法解算姿 态的速度比四元数法提高了 37.6%。在实际测量时，本系统姿态测量结果优于 传统系统。关键词：姿态测量；点合作目标；Rodrigues 参数；BP 神经网络；线阵 CCD 校 准AbstractWith the constant development of science and technology, the attitude measurement of space object is used more and more widely in different fields such as aviation, aerospace, navigation and military and so on, in which different measurement methods are proposed. When measuring the spatial moving object’s attitude in the suspension state, the common methods are unfit for measuring attitude that is fast-changing, because of the disadvantage of system complexity, high cost, low resolution and slow speed of image sensor and so on. Therefore, it is necessary to research a new kind of exterior attitude measurement system for attitude which is fast-changing in the suspension state.The objective of the subject “Study on the space object’ attitude measurement based on multi-linear CCD system and multi-point cooperation target” is to research the attitude of spatial object that is fast-changing in the suspension state, develop a simpler exterior attitude measurement system which improves system performance for solving the problems of traditional exterior attitude measurement system, build an effective attitude calculation model, discuss how to improve the linear CCD calibration precision, and provide the theoretical basis for high-precision attitude measurement. The research of this subject can be applied to the suspension experiment of spatial object’s attitude measurement, calibrate the internal attitude