多相机视觉测量系统在轨自主定向方法  

On-Orbit Autonomous Orientation of Multi-Camera Vision Measurement System

作　　者：赵艳芳 孙鹏[1,2] 董明利[1,2] 刘其林 燕必希[1,2] 王君[1,2] Zhao Yanfang;Sun Peng;Dong Mingli;Liu Qilin;Yan Bixi;Wang Jun(School of Instrument Science and Opto-Electronics Engineering,Beijing Information Science&Technology University,Beijing 100192,China;Key Laboratory of the Ministry of Education for Optoelectronic Measurement Technology and Instrument,Beijing Information Science&Technology University,Beijing 100192,China;School of Optoelectronic Engineering,Changchun University of Science and Technology,Changchun130022,Jilin,China)

机构地区：[1]北京信息科技大学仪器科学与光电工程学院,北京100192 [2]北京信息科技大学光电测试技术及仪器教育部重点实验室,北京100192 [3]长春理工大学光电工程学院,吉林长春130022

出　　处：《激光与光电子学进展》2024年第10期119-128,共10页Laser & Optoelectronics Progress

基　　金：国家自然科学基金(51475046);北京市教委科技计划重点项目(KZ201711232029);北京信息科技大学促进内涵发展科研水平提高项目(2020KYNH223)。

摘　　要：在轨组装、维修等航天应用需要大尺寸高精度的在轨测量手段,而视觉测量具有极大的应用潜力。针对目前在轨多相机视觉测量系统缺少人工参考物辅助相机定向的问题,提出一种利用恒星和基准长度尺使多相机视觉测量系统实现外方位参数标定的方法。首先提出一种基于相对外方位参数的恒星和基准长度尺成像模型,解决无人工目标点时多相机空间位置和姿态的解算问题;然后提出一种基于先验误差估计的加权联合平差算法,将三类不同数据融合,实现多相机外方位参数高精度标定。实测实验表明,利用所提标定方法,恒星和基准长度尺端点像面误差的标准差分别为0.48μm(1/7像素)和0.21μm(1/16像素)。另外,在2.5 m×1.4 m的测量范围内,所提方法的空间X、Y和Z坐标误差的标准差分别为0.15 mm、0.04 mm和0.05 mm。所提方法能为视觉测量在轨应用中面临的系统参数标定问题提供方法和参考数据。Space operations such as on-orbit assembly and maintenance hinges on the use of large-scale and high-precision on-orbit measurement methods.Vision measurement holds the greatest potential in this regard.However,insufficient assistant artificial targets necessitate the deployment of on-orbit targets to reliably and accurately calibrate the multi-camera vision measurement system.To address this issue,this study proposes an exterior parameter calibration method using fixed stars and scale rulers.First,we propose an imaging model of fixed stars and scale rulers based on relative exterior parameters to solve the problem of multi-camera localization and orientation when there are insufficient artificial target points.Then,we propose a weighted joint bundle adjustment algorithm based on prior error estimation,which fuses three different kinds of observation data to achieve high-precision exterior parameter calibration.Real data experiments demonstrate that this calibration method yields standard deviations of image errors of the fixed stars and the scale ruler endpoints of 0.48μm(1/7 pixel)and 0.21μm(1/16 pixel),respectively.In addition,with this calibration method,the standard deviations of spatial coordinate measurement errors along the X,Y,and Z axes are 0.15 mm,0.04 mm,and 0.05 mm,respectively,within the measurement range of 2.5 mX1.4 m.This study provides a method and reference data for calibrating vision system parameters in on-orbit applications.

关 键 词：多相机系统 在轨标定 相对外方位参数模型 联合平差 

分 类 号：TH741[机械工程—光学工程]