Measuring method for relative pose of non-cooperative spatial circular object

Abstract

The invention provides a measuring method for the relative pose of a non-cooperative spatial circular object. The method comprises the following steps: providing left and right cameras to shoot left and right images formed by the spatial circular object, wherein images of the spatial circular object comprise a left ellipse and a right ellipse; carrying out non-linear least square fitting to detect ellipses or approximate ellipses and using the detected ellipses or approximate ellipses as candidate ellipses; recognizing the left ellipse and the right ellipse from the candidate ellipses according to epipolar constraint relationship between the left ellipse and the right ellipse; respectively determining a left projection equation of a spatial circle and a right projection equation of the spatial circle according to an equation coefficient of the left ellipse and the equation coefficient of the right ellipse generated by fitting the left ellipse and the right ellipse so as to obtain two sets of pose solutions of the spatial circle; and converting one of the two sets of pose solutions of the spatial circle to the spatial coordinate system of the other set according to the positional and attitude relationship between the left and right cameras and determining the optimal pose solutions of the spatial circular object according to the principle that an included angle is the smallest. The measuring method provided by the invention can overcome the problem of ambiguity in the process of pose resolution.

Description

technical field [0001] The invention relates to the measurement technology of a space circular target, in particular to the relative pose measurement technology of a non-cooperative space circular target. Background technique [0002] With the development of space technology, there are more and more demands for short-range operation activities of non-cooperative space vehicles, such as space on-orbit service and debris removal of faulty or invalid satellites. Its development trend is to develop autonomous space vehicles for non-cooperative targets, and to perform space on-orbit service or clearance missions by autonomously approaching non-cooperative space vehicles. At present, the parts that can be identified and docked and captured in non-cooperative space vehicles mainly include star-rocket docking rings, apogee engine nozzles, solar panels, ground-to-ground communication antenna brackets, etc. Star-rocket docking rings, engine nozzles, etc. have obvious space circle cha...

AI Technical Summary

Problems solved by technology

However, in the actual pose measurement process, since the target is a non-cooperative target, it is difficult to obtain prior information. Therefore, the traditional method has ambiguity in the attitude calculation process; the known space circle is required in the position calculation process. radius

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