基于特征光点单坐标系坐标的运动目标相对位置姿态光学测量方法  

Method for Relative Attitude and Position Measurement of Moving Target Based on Coordinates of Reference Points in Single Coordinate System

作　　者：仲小清[1] 霍炬[1] 杨明[1] 刘佳[1] 

机构地区：[1]哈尔滨工业大学控制与仿真中心,哈尔滨150080

出　　处：《宇航学报》2008年第6期2001-2006,2012,共7页Journal of Astronautics

基　　金：国家自然科学基金重点项目(60434010)

摘　　要：针对运动目标的相对位置姿态测量问题,研究了一种利用四个非共线特征光点的光学测量方法。推导了基于特征光点目标坐标系和测量坐标系坐标的运动目标相对位置姿态解算公式;进而给出了基于特征光点单坐标系坐标的位置姿态的解析解;并建立了测量的误差模型。该方法对特征光点布局要求低,对摄像机模型没有限制。实验结果表明,该方法可满足运动目标的相对位置姿态测量需求。Aiming at estimating moving target＇s relative position and attitude parameters, this paper investigated an optical measurement method by using four non-collinear reference points. Based on the relationship between the coordinates of reference points in both target and measuring coordinate system, this work presents the solving formulas for relative position and attitude parameters. Then a closed-form method was proposed with only coordinates in one object coordinate system. Following that, the corresponding error model for measurement was built. This method relays little on the setting of reference points, and has no constraint on the model of camera. Experiment results show that, this method can meet the measurement requirements of moving target＇ s relative attitude and position.

关 键 词：计算机视觉 光学测量 相对位置 相对姿态 

分 类 号：V448[航空宇航科学与技术—飞行器设计]