基于单目视觉的航天器间相对位姿测量算法  

Monocular vision-based relative position and attitude measurement algorithm between spacecrafts

作　　者：张劲锋[1] 孙承启[1,2] 蔡伟[1] 

机构地区：[1]北京控制工程研究所,北京100190 [2]空间智能控制技术国家级重点实验室,北京100190

出　　处：《光学技术》2010年第2期187-192,共6页Optical Technique

摘　　要：对航天器间相对位姿的光学测量问题进行了研究,提出了一种新的单目视觉测量算法——相似迭代算法。该算法根据三角形相似原理提出了一种新的深度迭代机制,并通过引入深度变量,将求解2D-3D问题转化为迭代求解3D-3D问题。对数值仿真与两种现有的测量算法进行了比较。仿真结果表明,该算法具有精度高、抗噪声能力强和实时性较好等优点,可以应用于航天器间相对位姿测量等任务。The optical measurement problem of the relative position and attitude between spacecrafts is investigated,and a novel monocular vision-based relative position and attitude measurement algorithm named as the Similar Iteration algorithm is presented.This algorithm mainly characterizes a new depth iterative mechanism from the principle of the triangular similitude,and thus the 2D-3D pose estimation problem is translated into iteratively solving the 3D-3D problem.Simulation results show that the Similar Iteration algorithm outtperforms two other existing algorithms in the accuracy,the resistance against image noise and exhibits good real-time performance.The proposed approach is applicable for measuring the relative position and attitude between spacecrafts.

关 键 词：光学测量 单目视觉 交会对接 相对位姿 

分 类 号：V556.3[航空宇航科学与技术—人机与环境工程]