面向气浮航天器模拟器的高精度视觉姿态估计系统
High-accuracy Vision-Based Attitude Estimation System for Air-Bearing Spacecraft Simulators
AI总结：
针对气浮卫星模拟器的高精度姿态真值需求，提出基于单目相机与基准标记的几何迭代姿态估计算法及自动校准流程，部署在Raspberry Pi 4上实现了亚角秒级精度与低延迟，成本远低于商用动作捕捉系统。
摘要：
用于模拟卫星旋转动力学的气浮平台需要高精度的真值系统。遗憾的是，用于该场景的商用动作捕捉系统复杂且昂贵。本文提出了一种新颖且通用的方法，利用单目相机和多组基准标记计算旋转气浮平台的姿态。该研究提出了一种基于几何的迭代算法，其精度显著高于其他涉及求解PnP（透视n点）问题的文献方法。此外，本文还介绍了用于系统参数初步估计的自动校准流程。所开发的方法部署在Raspberry Pi 4微型计算机上，并使用一组LED标记进行了测试。将该装置获得的数据与同一系统的计算机仿真结果进行对比，以了解并验证姿态估计性能。仿真结果显示，平台绕视轴旋转和跨视轴旋转的预期1-sigma精度分别约为12角秒和37角秒，平均延迟时间为6毫秒。
英文摘要：
Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel and versatile method to compute the attitude of rotational air-bearing platforms using a monocular camera and sets of fiducial markers. The work proposes a geometry-based iterative algorithm that is significantly more accurate than other literature methods that involve the solution of the Perspective-n-Point problem. Additionally, auto-calibration procedures to perform a preliminary estimation of the system parameters are shown. The developed methodology is deployed onto a Raspberry Pi 4 micro-computer and tested with a set of LED markers. Data obtained with this setup are compared against computer simulations of the same system to understand and validate the attitude estimation performances. Simulation results show expected 1-sigma accuracies in the order of $\sim$ 12 arcsec and $\sim$ 37 arcsec for about- and cross-boresight rotations of the platform, and average latency times of 6 ms.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
