基于双目视觉的空间近距离交会半物理仿真系统  

Semi-physical simulation system for close-range rendezvous based on binocular vision

作　　者：杜晓东 高学海[1,2] 徐文福[3] 梁斌[2,3] 李成 

机构地区：[1]深圳航天东方红海特卫星有限公司,深圳518054 [2]哈尔滨工业大学航天学院,哈尔滨150001 [3]哈尔滨工业大学深圳研究生院,深圳518055

出　　处：《仪器仪表学报》2014年第6期1282-1291,共10页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(61305112)资助项目

摘　　要：针对双目视觉引导下的航天器近距离自主交会接近,提出了一种经济有效、合理可行的半物理仿真系统,来验证其中的特征识别、位姿解算、导航制导与控制等关键算法。该系统利用计算机图形学技术建立了航天器交会接近的三维场景,并通过透视投影生成了双目交会相机的模拟图像。采用真实的物理相机对景物模拟器显示的图像进行拍摄,从而将真实的成像过程引入了仿真闭环。通过实验验证了该仿真方法的有效性。Binocular vision is expected to be more and more applied in the autonomous rendezvous and proximity operations of spacecraft. Aiming at this issue, a cost-effective, reasonable and feasible semi-physical simulation system is proposed to verify the key algorithms, such as feature recognition, pose estimation, guidance and vision servo control. In this simulation system, a 3 D scenario of the spacecraft rendezvous is established based on computer graphics technology, and the virtual images of space binocular cameras are generated through perspective projection. The physical cameras are applied to capture the virtual images on the display so that the real imaging process is introduced in the simulation loop. The experiment results verify the effectiveness of the proposed simulation method.

关 键 词：位姿测量 半物理仿真 双目视觉 扩展投影模型 近距离交会 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TH75[自动化与计算机技术—控制科学与工程]