基于立体视觉的空间非合作航天器相对位姿自主测量

杨宁; 申景诗; 张建德; 贾蕴; 王桢

doi:10.3788/OPE.20172505.1331

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基于立体视觉的空间非合作航天器相对位姿自主测量

信息科学 | 更新时间：2020-07-07

- 基于立体视觉的空间非合作航天器相对位姿自主测量
- Autonomous measurement of relative attitude and position for spatial non-cooperative spacecraft based on stereo vision
- 光学精密工程 2017年25卷第5期页码：1331-1339
- 作者机构：
  
  山东航天电子技术研究所, 山东烟台 264670
- 作者简介：
  
  杨宁 (1986-), 男, 山东潍坊人, 博士, 工程师, 2016年于哈尔滨工业大学获得博士学位, 主要从事视觉测量、导航、制导与控制、地面半物理仿真等方面的研究。E-mail:yn3714@163.com YANG Ning, E-mail:yn3714@163.com
  [ "申景诗 (1978-), 男, 山东烟台人, 硕士, 高级工程师, 2011年于西安电子科技大学获得硕士学位, 主要从事视觉导航、卫星通信、天基组网技术等方面的研究。E-mail:shenjingshi@hotmail.com" ]
- 基金信息：
  
  国家高新技术研究发展计划资助项目(2015AA7041001)
- DOI：10.3788/OPE.20172505.1331
  中图分类号： TP391.4;V448.22
- 收稿日期：2016-10-28，
  
  录用日期：2017-1-5，
  
  纸质出版日期：2017-05-25
- 稿件说明：
移动端阅览
杨宁, 申景诗, 张建德, 等. 基于立体视觉的空间非合作航天器相对位姿自主测量[J]. 光学精密工程, 2017,25(5):1331-1339.

Ning YANG, Jing-shi SHEN, Jian-de ZHANG, et al. Autonomous measurement of relative attitude and position for spatial non-cooperative spacecraft based on stereo vision[J]. Optics and precision engineering, 2017, 25(5): 1331-1339.
杨宁, 申景诗, 张建德, 等. 基于立体视觉的空间非合作航天器相对位姿自主测量[J]. 光学精密工程, 2017,25(5):1331-1339. DOI： 10.3788/OPE.20172505.1331.

Ning YANG, Jing-shi SHEN, Jian-de ZHANG, et al. Autonomous measurement of relative attitude and position for spatial non-cooperative spacecraft based on stereo vision[J]. Optics and precision engineering, 2017, 25(5): 1331-1339. DOI： 10.3788/OPE.20172505.1331.

摘要

本文提出一种基于立体视觉的空间非合作航天器相对位姿自主测量方法，用以解决在轨捕获中非合作航天器的相对位姿测量问题。该方法以航天器本体和星箭对接环作为识别特征，识别过程无需人员参与；同时，提出一种基于空间几何约束的特征匹配方法，运用空间几何约束引导匹配，在完成匹配的同时可直接获取特征的三维信息，实现特征匹配与重构的一体化；最后，利用空间向量对非合作航天器的相对位姿参数进行解算，充分利用冗余信息，以提高解算精度。实验结果表明，在航天器本体尺寸为280 mm、相对距离为2 m的条件下，本文方法的姿态测量误差小于1.5°，位置测量误差小于4 mm，能够满足空间非合作航天器在轨捕获的相对位姿测量要求。

Abstract

To solve measurement problem of relative attitude and position for non-cooperative spacecraft in on-orbit capture

an autonomous measuring method for relative attitude and position of spatial non-cooperative spacecraft based on stereo vision was proposed. Main body of spacecraft and satellite-rocket docking ring were taken as recognition features in this method

and no staff was needed to participate in the recognition process; meanwhile

a feature matching method based on spatial geometry constraint was introduced. With the guidance of spatial geometry constraint

three-dimensional information of features was directly obtained at the time of completing matching to realize integration of feature matching and reconstitution; finally

the relative attitude and position of spacecraft were calculated according to spatial vectors

and calculation accuracy was improved via fully utilizing redundant information. Experimental result shows on condition of main body of spacecraft at 280 mm and relative distance at 2 m

attitude and position measurement error of the proposed method are less than 1.5° and 4 mm respectively

satisfying on-orbit capture measurement requirements of relative attitude and position for spatial non-cooperative spacecraft.

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references

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