火星降落伞开伞过程形态参数辨识与应用  

Application of morphological parameter identification for Mars parachute during opening process

作　　者：邹昕[1] 李明磊 朱岱寅[2] 饶炜[1] 韩承志 李莹 Xin ZOU;Minglei LI;Daiyin ZHU;Wei RAO;Chengzhi HAN;Ying LI(Beijing Institute of Spacecraft System Engineering,Beijing 100094,China;College of Electronic and Information Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]北京空间飞行器总体设计部,北京100094 [2]南京航空航天大学电子信息工程学院,南京210016

出　　处：《航空学报》2023年第6期198-209,共12页Acta Aeronautica et Astronautica Sinica

基　　金：国家科技重大专项。

摘　　要：针对柔性目标降落伞开伞过程的形态变化大、光照强度变化大、运动规律性差、存在遮挡等问题,提出了一种基于多算法融合的视觉测量技术的降落伞开伞过程形态参数辨识方法。首先,设计了具有视觉测量靶标功能的降落伞图案,提供了丰富的具有可区分度的标记点,能够准确地对定位点进行跟踪和测量,并开展了双目相机内、外参标定。其次,提出了应用对极几何原理,采用基于暗通道的图像增强技术,提高了图像质量,有效地减轻了各种噪声和过曝光等环境因素的影响;采用稀疏编码超分辨率重建算法,改进了特征点的像素级提取,实现了高精度的亚像素级特征提取;采用特征跟踪扩展卡尔曼滤波算法,提升了特征匹配跟踪的精度和效率。最后,通过全尺寸高空开伞试验的验证,结果表明该方法能够达到较高的辨识精度,具有较好的准确性和鲁棒性。此方法在中国首次火星探测“天问一号”探测器上成功得到了应用,精确地从双目影像中辨识出降落伞开伞过程形态参数,对设计和分析降落伞开伞工况提供了重要的技术参考和数据积累。Aiming at the difficulty in obtaining data for flexible targets under conditions such as significant changes in morphology,large variation in light intensity,poor regularity of motion,and existence of target occlusion during the parachute opening process,we propose a morphological parameter identification method based on vision measurement of multi-algorithm fusion.Firstly,we design a parachute pattern with the visual measurement function for targets,providing a wealth of distinguishable marker points to accurately track and measure the anchor points.The internal and external parameter calibration of binocular cameras is carried out.Then the application of the epipolar geometry principle is proposed.The image enhancement technology based on the dark channel is adopted to improve the image quality and effectively reduce the influence of various environmental factors such as noise and overexposure.The feature tracking of the extended Kalman filter algorithm is used to improve the accuracy and efficiency of feature matching tracking.The super-resolution reconstruction algorithm based on sparse coding is employed to improve the pixel-level extraction of feature points and achieve high precision sub-pixel level feature extraction.Finally the identification method is verified by a full-size high-altitude parachute opening experiment.The results show that the method can achieve high identification accuracy with good precision and robustness.This identification method is successfully applied to the circumlunar return and reentry spacecraft of China’s first Mars exploration mission–Tianwen-1 probe.The morphological parameters during the parachute opening process are accurately identified from binocular images,and the on-orbit results provide important technical reference and data accumulation for the design and analysis of parachute opening conditions.

关 键 词：火星降落伞 开伞过程 形态参数辨识 稀疏编码超分辨率重建 特征跟踪扩展卡尔曼滤波 

分 类 号：V244.216[航空宇航科学与技术—飞行器设计] V476.4