Characteristic relay method for relative position and attitude based on multi-vision

Abstract

The invention provides a characteristic relay method for relative position and attitude based on multi-vision. The method comprises the following steps: step 1. calculating position coordinates of the observed and extracted target characteristic points under a tracking spacecraft coordinate system by virtue of stereoscopic vision three-dimensional reconstruction to finish relative position calculation; step 2. establishing a coordinate system at each moment by virtue of any three points in the observed four characteristic points, and calculating an attitude matrix of every two coordinate systems; and step 3. calculating the attitude of the target body coordinate system at the current moment relative to the tracking spacecraft coordinate system, namely finishing the relative attitude relay calculation of a non-cooperative target. According to the method disclosed by the invention, the calculation of the relative position and attitude of non-cooperative targets such as spacecraft and space debris can be finished.

Description

technical field [0001] The invention relates to a relay method, in particular to a characteristic relay method based on relative position and attitude of multi-eye vision. Background technique [0002] With the development of aerospace technology, especially manned space technology and space stations, space rendezvous and docking technology has become an important field for the development of major aerospace countries. Prerequisites and Important Guarantees. The unmanned autonomous rendezvous and docking technology between spacecraft with the application background of non-cooperative target rendezvous plays a vital role in space missions such as cleaning up space debris, repairing faulty satellites, deep space exploration and asteroid landing. An important prerequisite for completing these tasks is to determine the relative position and attitude of the tracking spacecraft and the non-cooperative target with high precision. [0003] Visual measurement technology uses images...

AI Technical Summary

Problems solved by technology

Only relying on the multi-eye vision system to complete the relative position and attitude calculation technology of generalized non-cooperative targets with unknown models has not been reported yet

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