一种基于双目视觉的卫星相对位姿测量方法  

A Binocular Method for Measuring Relative Poses of Satellites

作　　者：邓爽 王波[1,2] 董秋雷 DENG Shuang;WANG Bo;DONG Qiulei(Institute of Automation,Chinese Aeademy of Seiences,Bejing 100190,China;School of Artifeial Itelligence,University of Chinese Aeademy of Sciences,Beijing 100190,China;Center for Excellence in Brain Seience and Ielligence Technology,Chinese Academy of Sciences.Beiing 100190.China.)

机构地区：[1]中国科学院自动化研究所,北京100190 [2]中国科学院大学人工智能学院,北京100049 [3]中国科学院脑科学与智能技术卓越创新中心,北京100190

出　　处：《空间控制技术与应用》2020年第6期50-55,共6页Aerospace Control and Application

基　　金：国家自然科学基金资助项目(U1805264,61991423)。

摘　　要：卫星位姿测量技术是与航天飞行器相关的空间操控活动中一项核心的支撑技术.考虑到太空环境中光源单一,且卫星表面一般为反光材质,提出了一种基于双目视觉的卫星相对位姿测量方法.在卫星面板标志点可见时,本文方法利用卫星对接环外环和卫星面板标志点测量卫星相对位姿.在卫星距离对接目标较近,无法观测到卫星面板标志点时,本文方法利用ORB特征点匹配测量位姿.为了增强鲁棒性,本方法还利用光流追踪法和卡尔曼滤波器优化位姿测量的结果.仿真实验结果表明,本方法能够在光源单一背景下对任意种类的卫星在对接过程中进行准确的位姿测量.Estimating the relative poses of satellites to spacecrafts is a supporting technology in many space manipulation activities. Addressing the single light source in the space and the light-reflecting surfaces of the satellites,a novel binocular method is proposed for satellite pose estimation in this paper.When the panel landmarks of the satellites can be observed,the proposed method uses the outer docking rings and the panel landmarks for pose estimation,and otherwise,the ORB features are used to measure the satellite poses. In addition,the optical-flow tracker and the Kalman filter are used to optimize the estimation results for improving the robustness of the proposed method. Simulation results demonstrate that this method can calculate the relative poses of the satellites accurately in the single-light-source space.

关 键 词：卫星 对接 双目视觉 位姿测量 

分 类 号：V448.221[航空宇航科学与技术—飞行器设计]