Hierarchical Motion Estimation of Spatially Destabilized Targets under Gaussian Mixture Models

Fig. 4. Comparative analysis of the estimation errors of motion parameters by DRM^[15], RPM^[16], TM^[10], and proposed method for different motion states. (a) Error of spin angular velocity; (b) error of initial spin axis; (c) error of precession angular velocity; (d) error of precession axis

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Fig. 5. Analysis of the estimation errors of DRM^[15], RPM^[16], TM^[10], and proposed method for motion parameters under different Gaussian noise standard deviations for satellite A for 252 different motion states. (a) Mean error of spin angular velocity; (b) mean error of precession location; (c) mean error of initial spin axis; (d) mean error of precession angular velocity; (e) mean error of precession axis

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Fig. 6. Motion parameters in the point cloud sequence of satellite B are solved using DRM^[15], RPM^[16], TM^[10], and proposed method, the point clouds of the first and fifth frames are then mapped to the reference time for comparative analysis. (a) Noiseless; (b) 0.5% noise; (c) 1.0% noise; (d) 1.5% noise

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Table 1. Parameter of linear laser imaging radar
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Table 1. Parameter of linear laser imaging radar
Detecting
distance /m
Imaging
resolution
Field of view /（°）
Ranging
precision /cm
Angle
precision /（″）
Data updating /（frame/s）
Scanning
time /ms
50 512×512 10×10 2 36 1 500

Table 2. Single-level and hierarchical results analysis

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Table 2. Single-level and hierarchical results analysis

Different strategies	Error of initial spinaxis /（°）		Error of spin angular velocity /［（°）/s］		Error of precessionaxis /（°）		Error of precession angular velocity /［（°）/s］
Different strategies	$E^{(1)}$	$S^{(1)}$	$E^{(2)}$	$S^{(2)}$	$E^{(3)}$	$S^{(3)}$	$E^{(4)}$	$S^{(4)}$
1st level	0.0263	0.0130	0.2222	0.0886	0.0046	0.0056	0.1073	0.0579
2nd level	0.0111	0.0054	0.1915	0.1120	0.0037	0.0051	0.1041	0.0738
Ours	0.0109	0.0038	0.1617	0.0719	0.0024	0.0024	0.0771	0.0337

Table 3. Comparison of different noise reduction weights

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Table 3. Comparison of different noise reduction weights

Different weights	Error of initial spinaxis /（°）		Error of spin angular velocity /［（°）/s］		Error of precessionaxis /（°）		Error of precession angular velocity /［（°）/s］
Different weights	$E^{(1)}$	$S^{(1)}$	$E^{(2)}$	$S^{(2)}$	$E^{(3)}$	$S^{(3)}$	$E^{(4)}$	$S^{(4)}$
$W^{(1)}$	0.0995	0.0664	0.2304	0.1191	0.0131	0.0094	0.1318	0.0860
$W^{(2)}$	0.0704	0.0470	0.2731	0.1300	0.0109	0.0119	0.1487	0.1167
$W$	0.0099	0.0038	0.1669	0.0613	0.0034	0.0027	0.0874	0.0433

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Zhiqiang Zhou, Riming Sun, Chenglong Guo, Yilong Zhu. Hierarchical Motion Estimation of Spatially Destabilized Targets under Gaussian Mixture Models[J]. Acta Optica Sinica, 2024, 44(24): 2428005

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