Abstract
An attitude determination system consisted of monocular computer vision, triaxial fiber optic gyroscope and two-axis inclinometer is presented, which aims to meet the demand of the five degrees of freedom air-bearing testbed according to actual situation. Ground computer captures images and recognizes pixel coordinates of indicating lamps on the air-bearing testbed, and then the yaw angle can be calculated by formula. Tracking differentiator is used to reduce calculation region and improve processing frequency from 7 Hz to 12 Hz. Based on Multiplicative Extended Kalman Filtering technique, an attitude determination algorithm is designed by using quaternion. The experiment result proves that the attitude of the air-bearing testbed can be estimated and corrected accurately by the proposed system.
| Original language | English |
|---|---|
| Pages (from-to) | 220-226 |
| Number of pages | 7 |
| Journal | Sichuan Daxue Xuebao (Gongcheng Kexue Ban)/Journal of Sichuan University (Engineering Science Edition) |
| Volume | 41 |
| Issue number | 4 |
| State | Published - Jul 2009 |
Keywords
- Image recognition
- MEKF
- Spacecraft ground experiment
- The 5-DoF air-bearing testbed
- Tracking differentiator
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