Non-cooperative Target Relative Navigation Method Based on Vortex Light, Vision and IMU Information

In order to obtain the position and attitude information of non-cooperative targets in space, this paper establishes a relative navigation system based on stereo vision and the rotation speed measured by vortex light as observation data. Since the system is a nonlinear system, the unscented Kalman filter has stronger advantages than the extended Kalman filter for the strongly nonlinear system. Therefore, this paper designs an UKF to determine the relative position and attitude information of the dead satellite relative to the service satellite, and uses the service satellite's own inertial navigation system to obtain its precise position, velocity and attitude information, and then obtain the dead satellite's position and attitude information. On this basis, 100 Monte Carlo shooting simulation tests were carried out to verify the superiority of the algorithm. The simulation results show that the overall state of the system is considerable when the observable conditions are met; the estimation accuracy of the relative position is better than 0.01 m, the estimation accuracy of the relative velocity is better than 0.001 m/s, and the estimation accuracy of the target angular velocity is better than 0.005°/s, the relative attitude estimation accuracy is better than 0.04°.