第25卷第5期
2017年5月文章编号
1004-924X(2017)05-1331-09
光学精密工程
Optics and Precision Engineering
Vol.25No.5
May 2017
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（山东航天电子技术研究所，山东烟台264670）
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，充分利用允余信息，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。关键词：在轨捕获；位姿测量；非合作航天器；空间儿何约束
中图分类号：TP391.4；V448.22
文献标识码：A
doi:10.3788/OPE.20172505.1331
Autonomous measurement of relative attitude and position for spatial non-cooperative spacecraft based on stereo vision
YANG Ning',SHEN Jing-shi,ZHANG Jian-de, JIA Yun,WANG Zhen(ShandongInstituteofSpaceElectronicTechnology,Yantai264670,China)
*Correspondingauthor,E-mail:yn3714@163.com
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 28o 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.
Key words: on-orbit capture; measurement of attitude and position; non-cooperative spacecraft:
spatial geometry constraint
收稿日期：2016-10-28；修订日期：2017-01-05.
基金项目：国家高新技术研究发展计划资助项目（No.2015AA7041001)