Measure for relative position and pose of RVD spacecrafts based on trinocular vision method
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摘要: 随着载人航天和宇宙空间站的不断发展, 航天器自主对接技术显得日趋重要. 在航天器对接的最后逼近阶段, 实时精确测量两航天器间的相对位置姿态参数是对接成功的关键. 针对航天器交会对接中位置姿态参数的测量问题, 研究了三目视觉的非线性测量方法, 阐述三目视觉的测量原理并建立数学模型, 将相对位姿参数求解问题转化为非线性优化问题, 进而利用Levenberg-Marquardt算法求解. 仿真研究表明, 与双目视觉线性方法和三目视觉线性方法相比, 该方法能降低图像匹配误差的影响, 提高特征点的定位精度, 增加测量系统的可靠性.Abstract: With the continuous development of Manned spaceflight and space station, autonomous spacecraft Rendezvous and Docking Technique becomes more important. During the spacecraft's final approach phase of Rendezvous and Docking (RVD), real-time accurate measurement of the relative position and orientation parameters between the two spacecrafts is the key to success. For Rendezvous and Docking spacecrafts position and orientation parameters of the process of measurement problems, a trinocular measurement method was used. This paper not only prescribed the measuring principle of trinocular, but also established a non-linear mathematical model based on trinocular vision. To solve relative position and pose of RVD spacecrafts based on trinocular vision method, the non-linear mathematical model was transferred into a non-linear optimization problem; and was completed by Levenberg-Marquardt algorithm. Experiments with simulated data show that compared with linear methods of binocular vision and trinocular, this non-linear trinocular method can reduce the impact on the image matching error, meanwhile improve the located positioning accuracy of feature points and increase the reliability of measurement system.
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