Research on Algorithm for Non-Cooperative Target Inertial Parameters Identification

Abstract

It is of great importance to accomplish identifying the non-cooperative targets inertial parameters for capturing and controlling it. This paper adopts an identification method utilizing the tactile and vision to establish the identification equations based on the principle of conservation of momentum. In order to solve the equations precisely and rapidly, two of the most widely used methods: the least square method and the recursive least-square method (RLS) are employed for simulation and calculation utilizing ADAMS and MATLAB, and the limitation of each method is pointed out. Then the paper proposes a new method named the recursive method based on the least square solution. This method provides the identification equation a new solving thought and realizes fast identification of the targets inertial parameters at high accuracy. The simulation results verify the validity and feasibility of the proposed approach.