基于3D重建的航天器相对位姿参数测量的解析算法  

Closed-form Algorithm for Relative Pose Parameters of Spacecraft Based on 3D Reconstruction

作　　者：杨进[1] 姜国华[1] 晁建刚[1] 

机构地区：[1]中国航天员科研训练中心,北京100094

出　　处：《航天医学与医学工程》2010年第3期213-217,共5页Space Medicine & Medical Engineering

基　　金：中国载人航天工程基金项目

摘　　要：目的研究一种新的交会对接最终逼近段求解航天器间相对位姿参数的算法。方法采用非共面5点靶标构型以及单目的小孔成像模型,引入3D重建的思想,在已知靶标形状的前提下,基于单目视觉系统恢复靶标在空间中的3D构型,并给出相对位姿参数测量的解析算法。结果通过数学仿真,该算法较为准确地解算出相对位姿参数。结论仿真结果表明算法简单且具有相当高的精确度,满足实时性与准确性的需求。Objective To research a new algorithm to get the relative pose parameters of spacecraft during the final approach phase of spacecraft rendezvous and docking（RVD）.Methods The method was based on the shape of five non-coplanar points and the model of the pinhole,and the conception of 3D reconstruction was employed.For the shape of the mark was known,the 3-D shape of the cross-mark was reconstructed based on the single visual system,and the closed-form algorithm for relative pose parameters of spacecraft was given.Results The algorithm had been validated by the mathematical simulation,and the precise results of the relative pose parameters were calculated.Conclusion The simulation results show that the algorithm is rather simple and with relative accuracy.Furthermore it is meets exact the need in real time.

关 键 词：交会对接 3D重建 相对位姿参数 数学仿真 

分 类 号：R857.3[医药卫生—航空、航天与航海医学]