二维合作目标的单相机空间位姿测量方法

发布时间：2018-01-19 22:32

本文关键词： 单目视觉二维合作目标位姿测量空间交会对接　出处：《光学精密工程》2017年01期 　论文类型：期刊论文

【摘要】：针对空间交会对接的近距离位姿测量要求,提出了一种基于单目视觉的二维合作目标位姿解算算法。为方便空中移动平台的调整以满足特定的位姿关系,引入了一种新的姿态角定义方法,此方法定义的三个姿态角可以作为平台姿态调整的反馈量且不受旋转顺序的限制。平面模型相对于相机坐标系的三个姿态角和位置向量可通过平面单应矩阵直接导出。在测量实验中,算法基于DSP平台实现,合作目标由4个共面LED光源构成,测量值基准由高精度倾角传感器和全站仪获得。对空间位置变化范围为2m×2m,姿态角变化范围为-30°~30°的目标平面进行测量,结果表明,本算法可实现0.88%的相对位置定位误差和最大为0.996°的姿态角测量误差,且单帧算法的解算速度仅为0.25ms。
[Abstract]:In order to meet the requirements of close range position and attitude measurement of space rendezvous and docking, a two dimensional cooperative target pose resolution algorithm based on monocular vision is proposed to facilitate the adjustment of the aerial mobile platform to meet the specific pose relationship. A new attitude angle definition method is introduced. The three attitude angles defined by this method can be used as feedback of platform attitude adjustment and are not limited by rotation order. The three attitude angles and position vectors of plane model relative to camera coordinate system can be directly obtained by plane monoclinic matrix. In the measurement experiment. The algorithm is based on DSP platform. The cooperative target is composed of four coplanar LED light sources. The measurement datum is obtained by high precision inclination sensor and total station instrument. The variation range of spatial position is 2m 脳 2m. The target plane with a range of -30 掳and 30 掳is measured. The results show that the algorithm can realize the relative position positioning error of 0.88% and the attitude angle measurement error with the maximum of 0.996 掳. The solution speed of single frame algorithm is only 0.25 Ms.
【作者单位】：天津大学微光机电教育部重点实验室;
【分类号】：TP391.41
【正文快照】： 1引言单目视觉测量系统[1-2]结构简单、测量视场大、实时性强且测量精度高,已广泛应用于空间交会对接[3]、自动检测设备等航天航空领域。单目测量系统利用单相机成像,根据成像模型建立空间目标点与对应像点之间的映射关系,进而解算目标点相对于相机的位置和姿态信息。目前,单

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