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Non-cooperative target abutting measurement method based on additional sighting distance

A technology of non-cooperative target and measurement method, which is applied in the field of non-cooperative target proximity measurement based on additional line-of-sight to achieve the effect of reducing the conditions for rendezvous and docking and improving the measurement accuracy of the whole process

Active Publication Date: 2015-02-11
BEIJING INST OF CONTROL ENG
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  • Claims
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Problems solved by technology

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  • Non-cooperative target abutting measurement method based on additional sighting distance
  • Non-cooperative target abutting measurement method based on additional sighting distance
  • Non-cooperative target abutting measurement method based on additional sighting distance

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Embodiment

[0063] like figure 1 As shown, the baseline of the long-baseline binocular measurement system (the first pair of binocular vision cameras) is longer and located on both sides; the baseline of the short-baseline binocular measurement system (the second pair of binocular vision cameras) is shorter and located in the middle. The two sets of binocular measurement systems are installed on the platform of the mobile spacecraft, and the spatial layout can be adjusted according to the needs, as long as the measurement coordinate systems of each set of binocular measurement systems are strictly calibrated to determine the mutual position relationship. The measurement system can collect its own image storage and processing through the data processing system. The data processing system can use an embedded processor with similar functions to DSP, or it can use an ordinary computer to work. The data processor of the dual-baseline binocular vision measurement system is equipped with informa...

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Abstract

The invention discloses a non-cooperative target abutting measurement method based on additional sighting distance. The non-cooperative target abutting measurement method is combined by two measurement modes of different principles, i.e. a binocular vision measurement mode and a laser ranging mode, wherein the binocular vision measurement mode is a main measurement means for a six-degree-of-freedom parameter of a target relative position and a relative gesture; the laser ranging mode is mainly characterized in that a laser distance meter provides a laser light beam hot spot emitted on a target surface; and then, a Z coordinate of the hot spot to a laser distance meter coordinate system is obtained. Because measurement precision of the laser distance meter on a relatively long distance is far higher than that of the binocular vision measurement, the Z coordinate measured by a tiny fault of the laser distance meter can be used for correcting the Z coordinate obtained by the binocular vision measurement. X and Y coordinate correction can be carried out by relevance among three position coordinates in the binocular vision measurement, so that the three position coordinates of any characteristic point obtained by vision measurement can be corrected so as to improve binocular vision measurement precision, and especially measurement precision of a long-distance target characteristic point is improved.

Description

technical field [0001] The invention relates to a method capable of accurately measuring the relative position and attitude of a non-cooperative target with 6 degrees of freedom. Background technique [0002] In autonomous spacecraft rendezvous and docking missions, optical imaging sensors are currently used internationally to measure the relative position and attitude of targets within a distance of tens of meters before docking. Therefore, it is necessary to install marker lights or reflectors on the target spacecraft, install measuring equipment on the rendezvous spacecraft to measure them, establish the target coordinate system and the measurement coordinate system, and establish the relative position and attitude relationship between them through calibration, and The relationship between the position of the marker point and each coordinate system, and then through the extraction and distribution of the marker point image, the six degrees of freedom motion parameters of ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/00G01C11/00G01C25/00
Inventor 郝云彩贾瑞明张弘
Owner BEIJING INST OF CONTROL ENG
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