Method for extracting pose measurement feature points based on target feature modeling

Abstract

The invention relates to a method for extracting pose measurement feature points based on target feature modeling, in particular to a method for extracting feature points under complex celestial background on the basis of target feature modeling and belongs to the technical field of rendezvous and docking. The method includes: firstly, setting four low-consumption light emitting diodes forming a diamond on a target spacecraft; using a spacecraft trace camera to acquire optical feature point images under the complex celestial background in the approach stage of rendezvous and docking of the spacecraft, and performing adaptive threshold binarization and smooth filtering to obtain a binary image; and searching planar diamond structures in the image to obtain image plane coordinates of the spacecraft optical feature points. Interference of the celestial background can be eliminated effectively, random noise can be eliminated, optical plane coordinates of the optical feature points can be obtained easily, results are stable and reliable, and the method is easy to implement.

Description

technical field [0001] The invention relates to a feature point extraction method for pose measurement based on a target feature configuration, in particular to a feature point extraction method based on a target feature configuration in a complex starry sky background, and belongs to the technical field of rendezvous and docking. Background technique [0002] With the development of satellite technology, in the space rendezvous and docking mission of spacecraft, it is necessary to accurately measure the relative position and relative attitude between two spacecraft. Usually, the optical feature points are set on the target spacecraft, and the CCD sensor is installed on the tracking spacecraft. According to the geometric shape, size and position of the optical feature points, the small hole imaging principle is used to make the CCD sensor image. Through the calculation of imaging and analysis to determine the relative position and relative attitude between two spacecraft. T...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the interference problem caused by the background of the starry sky and the energy consumption problem of the optical feature points on the target spacecraft in the process of extracting the target feature points, and propose a feature point extraction based on the target feature configuration. method

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