High Precision and Noise Resistance Estimation Based on Optimized GOI Algorithm for Rocket Nozzle

This paper is concerned with the rocket nozzle working environment with many interference factors, upon which a high precision and noise resistance algorithm for pose estimation is proposed. The optimized generalized orthogonal iterative (GOI) algorithm is utilized for iterative solution such that it avoids the poor convergence or convergence failure problem caused by the weak perspective projection. The proposed technique only needs to observe the rocket nozzle at different orientations and the objective function based on the collinear error is established, thus the estimated parameters can be obtained subsequently. Finally, simulation and practical experiments are carried out simultaneously. By using the improved algorithm, within a space of $2\mathrm{m}\times 2\mathrm{m}\times 4\mathrm{m}$ ., the maximum static error of the swing angles is superior to 0.085 ° and the maximum dynamic error is less than 0.13 °. The results verify the high accuracy and noise resistance performance of the proposed approach.