航天验证器运动参数摄影测量方法  

Motion Parameters of Space Validator Relay Videometrics Method

作　　者：王洁 黄伟[1,2] 张剑勇 张亚婧[1,2] 黎光宇 竺梅芳[1,2] Wang Jie;Huang Wei;Zhang Jianyong;Zhang Yajing;Li Guangyu;Zhu Meifang(Beijing Institute of Space Mechanics&Electricity,Beijing 100094,China;Laboratory of Aerospace Entry,Descent and Landing Technology,China Aerospace Science and Technology Corporation,Beijing 100094,China)

机构地区：[1]北京空间机电研究所,北京100094 [2]中国航天科技集团有限公司航天进入减速与着陆技术实验室,北京100094

出　　处：《光学学报》2021年第3期72-82,共11页Acta Optica Sinica

基　　金：国家重大建设专项;载人航天领域预先研究项目(020102)。

摘　　要：针对大多数测量实施试验中测量条件的局限性,提出一种基于双相机联合无同名点的双目视觉运动参数测量方法,采用该方法计算位姿初值并采用全局正交迭代算法优化初值。该测量方法在实现过程中不需要同名点参与,只需要两台相机的视场内有6个以上的目标合作标志点,就可得到验证器在运动过程中的位置和姿态等参数。对航天器悬停、避障和着陆阶段进行试验,将该测量方法与同一工况试验下基于同名点的双目位姿测量方法、基于正交迭代的单目位姿测量方法获取的结果和全站仪打点获得的默认真值进行对比,得到姿态测量误差小于0.5°,位置测量误差小于0.01 m。Aiming at the limitation of the measurement conditions in most of the measurement implementation experiments, a method for measuring the binocular vision motion parameters based on dual cameras without points with the same name is proposed. The initial values of position and pose are calculated by the method, and the initial values are optimized by the global orthogonal iterative algorithm. The measurement method does not need the participation of the same name point in the realization process, but only needs more than 6 target cooperative mark points in the field of view of two cameras, so as to obtain the position and attitude parameters of the validator in the process of motion. The hovering, obstacle avoidance, and landing stage of the spacecraft are tested. The measurement method is compared with the binocular pose measurement method based on the same point, the monocular pose measurement method based on orthogonal iteration and the implied value of total station. The default value obtained by the station instrument is compared. The attitude measurement error is less than 0.5°, and the position measurement error is less than 0.01 m.

关 键 词：成像系统 摄影测量 非同名点 双目视觉测量 全局正交迭代 位姿测量 

分 类 号：O436[机械工程—光学工程]