提出一种新型滤波器，精准估计航天器相对姿态与目标角速度。
Equivariant Filter for Relative Attitude and Target's Angular Velocity Estimation
- 基于对称性原理构建等变提升，实现鲁棒状态估计
- 仿真与实验均验证滤波器在低频测量下仍具高精度
- 适用于航天器对接场景，兼容传统与事件相机
精确估计两个刚体之间的相对姿态和角速度是航天任务（如航天器交会对接）的关键。本文针对追踪器通过机载传感器获取目标姿态与角速度的问题，提出一种等变滤波器（EqF），利用目标坐标系中两个已知且不共线的向量的噪声观测数据进行估计。通过引入系统对称性并计算其在对称群上的等变提升，推导出该滤波器结构，并分析了可观测性与收敛性。蒙特卡洛仿真表明性能统计显著；同时研究了低采样率的影响并提出缓解策略。实验采用标记点，结合传统相机与事件相机获取测量数据，结果验证了该方法在真实场景中的有效性。
原文摘要 · Abstract (English)
Accurate estimation of the relative attitude and angular velocity between two rigid bodies is fundamental in aerospace applications such as spacecraft rendezvous and docking. In these scenarios, a chaser vehicle must determine the orientation and angular velocity of a target object using onboard sensors. This work addresses the challenge of designing an Equivariant Filter (EqF) that can reliably estimate both the relative attitude and the target angular velocity using noisy observations of two known, non-collinear vectors fixed in the target frame. To derive the EqF, a symmetry for the system is proposed and an equivariant lift onto the symmetry group is calculated. Observability and convergence properties are analyzed. Simulations demonstrate the filter's performance, with Monte Carlo runs yielding statistically significant results. The impact of low-rate measurements is also examined and a strategy to mitigate this effect is proposed. Experimental results, using fiducial markers and both conventional and event cameras for measurement acquisition, further validate the approach, confirming its effectiveness in a realistic setting.
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