摘要
针对航天器在轨服务与空间垃圾清理中非合作目标的精准定位与定姿问题,提出了基于显著特征的空间非合作目标双目视觉位姿测量方法.通过地面气浮实验平台实现目标在类太空失重环境下的运动状态,对具有显著特征的航天器局部区域进行位姿测量与地面验证试验.文章具体开展太阳能帆板三角架的视觉显著性特征描述,通过计算机图像学处理手段提取显著特征内外边界信息,并将拟合的直线特征交点重建以获取其三维世界坐标;以双目视觉下显著特征点的空间共线性误差平方和作为误差函数,采用正交迭代方法解算目标位姿;最后给出位姿解算方法与传统三点解算的结果对比分析.该研究重点实现了非合作目标位姿测量与地面验证试验,对空间在轨操控技术具有重要指导意义.
Aiming at the precise positioning and attitude determination of non-cooperative target in spacecraft servicing and space waste removal,a binocular vision pose measurement method based on salient features of space non-cooperative target is proposed.The motion state of the target in the space weightlessness environment is achieved by the ground air flotation experiment platform,and the position and orientation of the solar array bracket with the remarkable characteristics are measured to obtain the non-cooperative target pose.The description of solar panels three tripod visual saliency attention mechanism is carried out,and the treatment method to extract the feature and boundary information through a series of effective computer image and the inter-section of straight line feature reconstruction fitting to get the world to coordinate are introduced.Under binocular vision,the feature points space collinearity error square sum is taken as error function,and the target position is calculated by using the orthogonal iteration method.The result of the three point solution analysis is compared with the one of traditional calculation method,which has guiding significance for space orbit control technology.
作者
林婷婷
江晟
李荣华
葛研军
周颖
LIN Tingting;JIANG Sheng;LI Ronghua;GE Yanjun;ZHOU Ying(School of Mechanical Engineering,Dalian Jiaotong University,Dalian 116028,China;Shanghai Institute of Aerospace Systems,Shanghai 201109,China)
出处
《大连交通大学学报》
CAS
2020年第3期34-40,共7页
Journal of Dalian Jiaotong University
基金
国家重点研发计划资助项目(2018YFB1107805)
辽宁省自然科学基金资助项目(20180520015)
大连市支持高层次人才创新创业资助项目(2017RQ134)。
关键词
视觉显著特征
位姿测量
非合作目标
地面验证
visual saliency feature
pose measurement
non-cooperative target
ground verification
作者简介
林婷婷(1982-),女,博士研究生;李荣华(1983-),男,副教授,博士,主要从事空间非合作目标三维位姿测量技术的研究,E-mail:lironghua705@163.com.
