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提出了利用单目视觉与激光测距仪混合的航天器间相对位置和姿态参数测量的解析算法。首先利用四元数测量算法,采用5个非共面特征光点和单目视觉获取航天器间相对位置和姿态参数的解析解,并对解析解进行修正;然后,将上述6D位姿参数与激光测距仪获取的1D距离进行融合,以进一步对6D位姿参数进行修正。最后,通过计算实例对该算法进行数学仿真,仿真结果表明:该算法保证了在相机标定和特征光点提取及匹配较大误差下的位姿参数的估计精度,能够满足航天器相对位姿确定精度和实时计算要求。
An analytical algorithm for measuring the relative position and attitude parameters of spacecraft using a combination of monocular vision and laser range finder is proposed. Firstly, quaternion measurement algorithm is used to obtain the analytic solution of the relative position and attitude parameters of the spacecraft using five non-coplanar feature points and monocular vision, and the analytical solution is corrected. Then, The 1D distance obtained by the laser range finder is fused to further correct the 6D pose parameter. Finally, the algorithm is mathematically simulated through calculation examples. The simulation results show that the proposed algorithm can ensure the accuracy of attitude and attitude estimation under camera calibration and feature point extraction and matching errors, and can satisfy the relative pose determination of spacecraft Accuracy and real-time calculation requirements.