To address the problem of the accuracy of the binocular vision measurement system, this paper proposes and develops an error analysis model for convergent and parallel binocular vision systems. It analyzes the relationship between key camera structural parameters,including baseline,focal length,lens mounting structure,calibration accuracy,and the depth of the measured object and the resulting measurement errors. The study explores the impact of these factors on measurement accuracy and presents a simulation analysis. By considering the constraints of the field of view,the simulation results show that the error model established by the above analysis can effectively estimate the measurement error of the binocular vision system,and provide a theoretical model for the subsequent measurement error correction,and the suggestions for designing suitable structures and parameters for the construction of the required binocular vision system.

In response to the singular phenomena that are prone to occur during attitude maneuvers of the application control moment gyroscope (CMG)satellites,an attitude dynamics equation is established with CMG speed commands as input. The established state space equation is discretized,and optimization calculation indicators are designed. Online optimization calculation of input speed commands is used to minimize torque errors caused by commonly used CMG control laws. A predictive control algorithm based on optimization iteration is designed to provide an attitude maneuver feedback controller with a closed-loop structure. In order to reduce the computa tional burden of online optimization and minimize the number of optimization calculations,a satellite attitude maneuver predictive controller with an event-triggered mechanism is designed,the controller can avoid CMG singularity and control satellite rapid maneuver,and effectively reduces the burden of in-orbit calculation on this basis. Through the simulation of the event-triggered attitude maneuver prediction controller for rigid body satellites,it is further demonstrated that this controller has the remarkable ability to significantly reduce the online computing burden.