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《Journal of Chinese Inertial Technology》 2008-05
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Satellite attitude estimation based-on dual quaternion from monocular camera

ZUO Jun-qing1,WANG Hui-nan1,LIU Hai-ying2,FENG Cheng-tao1(1.College of Automation Engineering,Nanjing University of Aeronautic and Astronautic,Nanjing 210016,China;2.Academy of Frontier Sciences Nanjing University of Aeronautic and Astronautic,Nanjing 210016,China)  
A new attitude presentation was proposed based on attitude dynamics and hand-eye solution.Monocular camera was used to measure the peculiar lines on the model.After DQ transformation and perspection,2D image pa-rameters could be gotten from 3D parameters of subordinate satellite attitude.A Kalman filter was designed as state assignment based on DQ representation translation rotation and their first derivatives.2D points coordinates was used as measurement for the filter.After 30 s simulation,the evaluation of DQ was gotten.The results validate that DQ method was more effective in representing rigid motion,and provide a way for subsatellite attitude measurement.
【Fund】: 教育部博士点基金资助项目(20030287005);; 高等学校博士学科点专项科研基金(20070287007)
【CateGory Index】: V448.22
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