基于立体视觉的空间非合作航天器相对位姿自主测量

发布时间：2018-11-05 19:42

【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280mm、相对距离为2m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4mm,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]:In this paper, a stereo vision based relative attitude measurement method for space non-cooperative spacecraft is proposed, which is used to solve the problem of relative attitude measurement for non-cooperative spacecraft in orbit acquisition. In this method, the body of the spacecraft and the docking ring of the spacecraft are used as the recognition features, and the identification process does not require the participation of personnel. At the same time, a method of feature matching based on spatial geometric constraints is proposed, which uses spatial geometric constraints to guide the matching. The 3D information of features can be obtained directly while matching is completed, and the integration of feature matching and reconstruction can be realized. Finally, the relative position and attitude parameters of the non-cooperative spacecraft are calculated by using space vector, and the redundant information is fully utilized to improve the accuracy of the calculation. The experimental results show that the attitude measurement error is less than 1.5 掳and the position measurement error is less than 4 mm under the condition that the spacecraft body size is 280 mm and the relative distance is 2 m. It can meet the requirements of relative position and attitude measurement for space non-cooperative spacecraft in orbit.
【作者单位】：山东航天电子技术研究所;
【基金】：国家高新技术研究发展计划资助项目(No.2015AA7041001)
【分类号】：TP391.41;V520

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