非合作旋转目标闭环检测与位姿优化

发布时间：2018-05-13 12:30

  本文选题：非合作 + 旋转目标　； 参考：《光学精密工程》2017年04期

【摘要】：若要实现空间失效卫星、空间碎片等非合作目标,尤其是具有自旋运动特性的目标的在轨服务或者离轨清除,需要精确测量追踪航天器与目标之间的相对姿态。当目标旋转一周后,对重访区域的闭环检测与位姿优化是减小累积误差,提高测量精度的重要保证。首先,本文介绍了视觉词袋库的建立和基于视觉词袋的非合作目标闭环检测策略。然后,基于相似性变换,对图像序列关键帧集和当前帧进行了联合位姿图优化,实现了对刚体变换矩阵的校正。最后对不同运动角速度下的不同目标,采用不同相机进行地面模拟测试实验,验证了方法的有效性和可靠性。实验结果表明:对于以12(°)/s角速度运动的非合作目标,当测量稳定后,绝对角度误差约为1(°),相对角度误差约为1%,平均角速度误差约为0.12(°)/s。可以满足非合作目标相对姿态测量的任务需求。
[Abstract]:In order to achieve non-cooperative targets such as space failure satellites, space debris, especially the on-orbit service or de-orbit clearance of targets with spin motion, it is necessary to accurately measure the relative attitude between the tracking spacecraft and the target. When the target rotates for one week, the closed-loop detection and pose optimization of the re-visit region is an important guarantee to reduce the cumulative error and improve the measurement accuracy. Firstly, this paper introduces the establishment of visual word bag database and the closed loop detection strategy of non-cooperative target based on visual word bag. Then, based on the similarity transformation, the key frame set of the image sequence and the current frame are optimized by the joint pose graph, and the correction of the rigid body transformation matrix is realized. Finally, the effectiveness and reliability of the method are verified by using different cameras to test different targets at different angular speeds on the ground. The experimental results show that the absolute angle error is about 1 (掳), the relative angle error is about 1, and the average angular velocity error is about 0.12 (掳/ s) for the non-cooperative target moving at the angular velocity of 12 (掳/ s). It can meet the task requirement of relative attitude measurement of non-cooperative target.
【作者单位】： 哈尔滨工业大学电气工程及自动化学院;上海航天控制技术研究所;上海市空间智能控制技术重点实验室;
【基金】：上海市青年科技启明星计划(No.16QB1401000)
【分类号】：V528;V44
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本文编号：1883155