非合作航天器关键特征的双目视觉位姿测量  

Binocular Vision Position and Attitude Measurement for Key Features of Non-Cooperative Spacecraft

作　　者：胡亮 段慧仙 裴浩东[1,3] 孙典奇[1,2,3] 束安 Hu Liang;Duan Huixian;Pei Haodong;Sun Dianqi;Shu An(Key Laboratory of Intelligent Infrared Perception,Chinese Academy of Sciences,Shanghai 200083,China;University of Chinese Academy of Sciences,Beijing 100049,China;Shanghai Institute of Technical Physics,Chinese Academy of Sciences,Shanghai 200083,China)

机构地区：[1]中国科学院智能红外感知重点实验室,上海200083 [2]中国科学院大学,北京100049 [3]中国科学院上海技术物理研究所,上海200083

出　　处：《中国激光》2022年第17期50-58,共9页Chinese Journal of Lasers

基　　金：装备预先研究基金(30504040304);上海市青年科技启明星计划(17QB1401000)。

摘　　要：针对空间失稳非合作航天器位姿测量的难题,提出了一种非合作航天器关键特征的双目视觉位姿测量方法。首先,利用两台可见光相机获取高分辨率目标图像,基于改进的弧支持线段的方法提取目标表面的星箭对接环;其次,提出一种基于短线段特征的直线检测方法提取隔热屏十字线;最后,利用对接环与十字线相关特征建立目标坐标系,解算目标坐标系与测量坐标系之间的位姿关系。为了保证追踪非合作航天器时目标坐标系的一致性,提出一种十字线与对接环交点切换的方法。通过暗室环境下相机系统逼近实验与卫星模型转动实验,验证了所提出方法的有效性与准确性,说明该方法可以在超近程跟踪航天器时提供较为实时的相对导航信息。Objective Due to the intensive space launches,the operation of spacecrafts on orbit has been seriously threatened.The on-orbit service has gradually become a hot spot in the field of space research and major aerospace countries have an increasing demand for on-orbit services at present.On-orbit services include tasks such as rendezvous and docking,equipment maintenance and refueling.Non-cooperative spacecrafts refer to the kind of artificial satellites without the design of supporting services in the space environment.In order to tackle the technical difficulties,the key is to continuously obtain the relative position and attitude of the spacecraft so as to complete the tracking and acquisition of non-cooperative target.While the target cannot provide any measurement information,optical measurement can obtain the relative position and attitude information without contacting the target,so that it is the main method of non-cooperative spacecraft measurement.Aiming at the technical difficulties such as poor real-time performance in space non-cooperative target measurement,this paper proposes a binocular position and attitude measurement method for key features of non-cooperative target.Methods This paper proposes a binocular position and attitude measurement method for key features of non-cooperative spacecraft.Firstly,two visible light cameras are used to obtain high-resolution target images.The satellite and rocket docking ring on the target surface is extracted based on the improved arc-support line segment method.Optical flow assisted tracking in collaboration with dual thresholds is used to determine whether the docking ring ellipse is detected incorrectly.Secondly,a line detection method based on short line feature is proposed to extract reticles of the heat shield.Finally,the target coordinate system is established by using the related features of the docking ring and reticles.The relative position and attitude are calculated in the coordinate system yielded.In order to ensure the consistency of target coordi

关 键 词：测量 双目视觉 非合作航天器 椭圆检测 直线检测 位姿测量 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]