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本文提出一种基于立体视觉的空间非合作航天器相对位姿自主测量方法,用以解决在轨捕获中非合作航天器的相对位姿测量问题。该方法以航天器本体和星箭对接环作为识别特征,识别过程无需人员参与;同时,提出一种基于空间几何约束的特征匹配方法,运用空间几何约束引导匹配,在完成匹配的同时可直接获取特征的三维信息,实现特征匹配与重构的一体化;最后,利用空间向量对非合作航天器的相对位姿参数进行解算,充分利用冗余信息,以提高解算精度。实验结果表明,在航天器本体尺寸为280mm、相对距离为2m的条件下,本文方法的姿态测量误差小于1.5°,位置测量误差小于4mm,能够满足空间非合作航天器在轨捕获的相对位姿测量要求。
This paper presents a method of autonomous attitude measurement of space non-cooperative spacecraft based on stereo vision to solve the problem of relative pose measurement of non-cooperative spacecraft during orbit capture. The method takes the spacecraft body and the star-arrow docking ring as the identification features, and the recognition process does not need personnel participation. At the same time, a feature matching method based on the space geometry constraint is proposed, which uses the space geometry constraint to guide the matching, and can directly obtain the matching while completing the matching The three-dimensional information of the feature, to achieve the integration of feature matching and reconstruction; Finally, the use of space vector of non-cooperative spacecraft relative pose parameters to solve, make full use of redundant information to improve the accuracy of the solution. The experimental results show that the attitude measurement error of this method is less than 1.5 ° and the position measurement error is less than 4 mm under the conditions of spacecraft body size of 280mm and relative distance of 2m, which can meet the relative position and attitude of the space non-cooperative spacecraft on-orbit Measurement requirements.