Method for autonomous measurement of pose of tripod structure of solar panel on non-cooperative spacecraft

Abstract

The invention provides a method for autonomous measurement of the pose of tripod structure of a solar panel on a non-cooperative spacecraft. The method is as below: first providing an autonomous recognition algorithm based on Hough changes of sliding window and characteristic structure of inscribed circle of triangle, so as to obtain the image coordinates of the feature points of the tripod; then calculating the relative pose represented by the rotation matrix and translational matrix by combining with a P4P algorithm and the known dimension and characteristic structure of the spacecraft. The invention is applicable to the relative position measurement in observation, tracking and docking of the non-cooperative spacecraft in a close range rendezvous stage. The invention has the following beneficial effects: the method can automatically complete feature extraction and pose solution of tripod part of the solar panel; the whole process does not require manual intervention or arrangement of marker on the target; and the method has high real-time performance and autonomy, and overcomes the disadvantages of influence of transmission delay and transmission reliability on measurement results under remote control, and instability of system.

Description

technical field [0001] The invention relates to a method for autonomously measuring the position and orientation of a tripod structure of a solar sail panel on a non-cooperative spacecraft, belonging to the technical field of spacecraft on-orbit service. Background technique [0002] With the increasingly frequent space activities, there are more and more invalid or abandoned satellites due to launch errors or communication antenna deployment failures. create a threat. In order to recover losses or purify the orbital environment as much as possible, more and more attention has been paid to on-orbit service technology for the purpose of satellite maintenance, life extension and space junk removal (Cui Naigang, Wang Ping, Guo Jifeng, et al. A review of the development of space on-orbit service technology[ J]. Acta Astronautica Sinica. 2007,28(4):33-39). In the process of on-orbit service, it is usually necessary to measure the position and attitude information of the target ...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problems of poor autonomy and real-time performance, system instability, and large transmission time delay of the existing non-cooperative spacecraft pose measurement, the present invention further provides a pose of a solar sail panel tripod structure on a non-cooperative spacecraft Autonomous measurement method, the main steps include image preprocessing based on monocular vision, feature structure autonomous recognition based on sliding Hough change and triangle inscribed circle characteristics, and relative pose measurement based on P4P algorithm

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