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• 空间探测技术 • Previous Articles     Next Articles

Measure for relative position and pose of RVD spacecrafts based on trinocular vision method

Yao Rongbin1,2, Ding Shangwen3, Li Shengquan4, Fan Bing2, Li Qiang2   

  1. (1.Key Laboratory of Modern Acoustics, Ministry of Education, Nanjing University, Nanjing 210008; 2.Natural Science Department of Lianyungang Teachers College, Lianyungang 222006; 3.Astronautics College, Nanjing University of Aeronautics and Astronautics, Nanjing 210016; 4.Ministry of Education Key Laboratory of Aircraft Structural Mechanics and Control, Nanjing University of Aeronautics and Astronautics, Nanjing 210016)
  • Received:1900-01-01 Revised:1900-01-01 Online:2011-07-15 Published:2011-07-15
  • Contact: Yao Rongbin

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.

Key words: Artificial frozen orbit, Small eccentricity, Continuous low-thrust, Transverse