空间非合作目标特征提取与运动测量方法  

Feature-extraction and motion-measurement method for noncooperative space targets

作　　者：胡海东[1] 杜航 王殿佑[1] 黄璐 谢心如 魏春岭[1] HU HaiDong;DU Hang;WANG DianYou;HUANG Lu;XIE XinRu;WEI ChunLing(Beijing Institute of Control Engineering,Beijing 100094,China)

机构地区：[1]北京控制工程研究所,北京100094

出　　处：《中国科学：物理学、力学、天文学》2022年第1期110-119,共10页Scientia Sinica Physica,Mechanica & Astronomica

基　　金：国家自然科学基金(编号:61690210,61690215);科技创新2030-“新一代人工智能”重大项目(编号:2018AAA0102702)资助。

摘　　要：在轨服务空间目标通常具有"非合作"特性,难以提取其特征并测量运动状态,针对这一问题,本文提出了一种空间非合作目标特征提取与运动测量方法.首先,对双目相机采集的目标图像进行阈值分割,将目标对接环区域与背景环境分割开来,采用Canny算子方法来检测星箭对接环边缘;其次,通过对目标边缘外形特点分析,采用Hough变换来提取十字支架直线特征,采用最小二乘法来拟合星箭对接环轮廓;再次,采用"平行等效投影"结合"极线对准"的方法,实现汇聚式双目视觉的左右相机图像匹配;最后,通过对星箭对接环和十字支架特征点进行三维重建,获取星箭对接环相对位置,采用双矢量定姿方法来确定星箭对接环相对姿态.地面仿真试验表明,该算法能够有效测量星箭对接环相对位置和姿态,在距目标1.5 m处,相对位置精度优于15 mm,相对姿态精度优于1.12°.本文的研究能够实现非合作目标对接环相对位置和姿态的精确测量,为空间非合作目标抓捕、维修、加注、模块更换、轨道转移等在轨服务任务提供测量基础和重要支撑,具有重要实际应用价值.Space targets served on the orbit have a noncooperative characteristic. Thus, it is difficult to extract their features and measure their motions. To resolve this problem, a feature-extraction and motion-measurement method for noncooperative space targets is proposed in this paper. First, threshold segmentation is performed with the images captured using the binocular camera to separate the satellite-rocket docking ring section from the surrounding background. Additionally, the Canny operator method is used to detect the edge of the satellite-rocket docking ring. Based on the analysis of the characteristic of the edge’s shape, Hough transformation is employed to extract the line feature of the cross. The contour of the satellite-rocket docking ring is fitted using the least square method. Furthermore, the parallel equivalent projection and the epipolar line alignment methods are used to match the images of the left and right cameras in the convergence binocular vision. Finally, the relative position of the satellite-rocket docking ring is obtained through a three-dimensional reconstruction of the feature points on the satellite-rocket docking ring and cross. Additionally, the dual-vector posedetermination method is employed to obtain the relative pose of the satellite-rocket docking ring. The ground simulation test shows that this algorithm can measure the relative position and pose of the satellite-rocket docking ring effectively.At a distance of 1.5 m from the target, the precision of the relative position is 15 mm, and that of the relative pose is1.12°. This research can achieve an accurate measurement of the relative position and pose of the noncooperative target’s docking ring, providing the measurement basis and important support for on-orbit service missions, such as the grasping,repairing, refueling, and module replacement of noncooperative space targets;thus, it has important practical application value.

关 键 词：空间非合作目标 特征提取 运动测量 

分 类 号：V448[航空宇航科学与技术—飞行器设计] TP391.41[自动化与计算机技术—计算机应用技术]