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在航天器编队飞行应用中,航天器间相对状态(相对位置和姿态)的确定是实现航天器自主控制的重要条件。通过充分利用计算机视觉理论及相机成像原理,提出了一种基于计算机视觉的航天器间相对状态的测量系统。推导了基于目标靶特征点确定航天器相对状态的四元数法,介绍了系统的测试原理及标定方法,并通过采用APSCMOS相机作为图像传感器,建立了它的试验原型,验证了测量原理和算法的正确性。该测量系统结构简单、体积小、重量轻、功耗低、算法简单、速度快,近距离测量精度高,能够广泛地应用于空间合作目标间相对状态的测量。
In spacecraft formation flight applications, the determination of the relative state (relative position and attitude) between spacecraft is an important condition for the autonomous control of the spacecraft. By making full use of computer vision theory and camera imaging principle, a system of measuring the relative state between spacecraft based on computer vision is proposed. The quaternion method for determining the relative state of the spacecraft based on the target feature points is deduced. The test principle and calibration method of the system are introduced. By using APSCMOS camera as the image sensor, the prototype of the experiment is established, and the principle and algorithm of the measurement are verified Correctness The measurement system has the advantages of simple structure, small size, light weight, low power consumption, simple algorithm, high speed and high precision of short distance measurement, and can be widely applied to the relative state measurement between space cooperation targets.