光学精密工程2017，Vol.25Issue(5)：1331-1339,9.DOI:10.3788/OPE.20172505.1331
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 positionfor spatial non-cooperative spacecraft based on stereo vision
摘要
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.关键词
在轨捕获/位姿测量/非合作航天器/空间几何约束Key words
on-orbit capture/measurement of attitude and position/non-cooperative spacecraft/spatial geometry constraint分类
信息技术与安全科学引用本文复制引用
杨宁,申景诗,张建德,贾蕴,王桢..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):1331-1339,9.基金项目
国家高新技术研究发展计划资助项目(No.2015AA7041001) （No.2015AA7041001）
