Space non-cooperative target pose measurement method based on model

Abstract

The invention discloses a space non-cooperative target pose measurement method based on a model. The space non-cooperative target pose measurement method is characterized by comprising the following main steps: obtaining a deep edge and a texture edge of a target model according to a relative pose at the last moment so as to obtain a visible edge model; extracting a Harris characteristic of a current scene image according to a KLT (Karhunen-Loeve Transform) algorithm; projecting the target visible edge model in an image scene, searching an image edge in a normal direction along the edge model and calculating a residual error of a corresponding characteristic point pair; estimating 3D coordinates of the Harris characteristic of a last frame through deep buffer, projecting the 3D coordinates in a current image in a current estimation pose, and calculating a residual error of a corresponding characteristic point pair; determining weights of characteristic point pairs according to an M estimator robust method and distributing the weights of characteristic points according to the average residual error obtained in the two steps; and iteratively calculating a relative pose according to a visual servo method. According to the method provided by the invention, the measurement of a relative pose of a space non-cooperative target can be realized, and the advantage of low calculating amount is achieved.

Description

technical field [0001] The invention relates to the field of aerospace technology, in particular to a model-based method for measuring the pose of a space non-cooperative target. Background technique [0002] With the development of aerospace technology, space on-orbit service has become an important trend of future space exploration missions. All major aerospace countries in the world have carried out demonstration and verification tests of space on-orbit rendezvous and docking. Typical tests such as Japan's ETS-VII and the United States' "Rail Express". For the rendezvous of space targets, especially space non-cooperative targets, the precise measurement of the relative position and attitude of space targets (hereinafter referred to as relative pose) must be realized first. [0003] At present, most of the space targets in orbit are not considered to be served in orbit, and usually have the following characteristics: 1. There are no devices to be captured and cooperative ...

AI Technical Summary

Problems solved by technology

These methods are either limited by the baseline limitation of stereo vision, or by the complexity of feature extraction, the measurement accuracy and real-time performance of space non-cooperative targets are not high, and they cannot be applied to the on-orbit service tasks of space non-cooperative targets

Images