航天器对接相对位置姿态自主测量方法研究  

Relative position-and-attitude self-measuring for spacecrafts docking

作　　者：何森[1] 王志斌[1] 张旭峰[1] 曹美珍[1] 高永全[1] 

机构地区：[1]中北大学理学院,太原030051

出　　处：《光学技术》2009年第6期931-935,938,共6页Optical Technique

摘　　要：航天器间相对位置姿态的准确测量是实现自主自动对接的先决条件。将三圆标志靶安装在目标航天器上;追踪航天器用数码相机对靶拍照。设计了亚像素处理方法实时处理数字照片,可精确测定圆心像点位置和特征直径的像长;用其作为基本特征参数,基于透视投影原理,建立了求圆心物空间坐标的公式,求出靶面的平面方程,可用来求两航天器间的相对位置姿态参数和实时标定相机的可变参数。计算机仿真结果表明,测距为2m时,测圆心像点位置的误差小于0.03个像素,测距误差小于1mm,测姿态角的误差小于0.01°。该方法也适用于无人直升飞机定点着陆时自主测量其相对位姿参数。At the last-phase of spacecrafts-docking, the spacecrat＇t must be able to sell-measuring the relative position-andattitude against another. A three-circles-target is fixed onto the object-spacecraft, and then pictures of the target are taken with a digital-camera, which is fixed onto the tracking-spacecraft. According to the character-parameters of this target image, a kind of the algorithm is designed, based on perspective-projection-principle, to calculate the circular-center＇s position and plane formula of the target. Then a kind of the sub-pixel-processing-method is designed. By this method the locating-accuracy of better than 0.03pixel is got when measuring the Position of the circular-center image, and than the angle-metering-accuracy of better then 0.01° is got. It can be used to calibrate variable parameters of the camera against known parameters of this target, and calculate the relative position-and-attitude of spacecrafts. It also can be applied to self-estimate the position and orientation of the unmanned-helicopter relative to the given landing point.

关 键 词：光学测量 相对位置姿态 图像检测 亚像素处理方法 

分 类 号：V556.5[航空宇航科学与技术—人机与环境工程]