Visual navigation and positioning method for rendezvous and docking based on coded targets

A rendezvous and docking and visual navigation technology, applied in the field of navigation and positioning, can solve the problems of low automatic recognition and achieve the effect of improving accuracy and reliability

Inactive Publication Date: 2014-10-22
BEIJING AEROSPACE CONTROL CENT
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] 2) The recognition of target lights requires external input data, and the degree of automatic recognition is not high

Method used

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  • Visual navigation and positioning method for rendezvous and docking based on coded targets
  • Visual navigation and positioning method for rendezvous and docking based on coded targets
  • Visual navigation and positioning method for rendezvous and docking based on coded targets

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Embodiment Construction

[0030] The present invention will be further described in detail below with reference to the accompanying drawings. It is necessary to point out that the following specific embodiments are only used to further illustrate the present invention and cannot be understood as limiting the protection scope of the present invention. Those skilled in the art can Some non-essential improvements and adjustments have been made to the present invention based on the above-mentioned content of the invention.

[0031] Such as figure 1 As shown, the coded target-based rendezvous and docking visual navigation positioning method of the present invention includes the following steps:

[0032] Step 1: Design and identification of coding targets

[0033] 1.1. Design of coding target

[0034] Such as figure 2 As shown, the coded target is composed of two circular template points and three circular template points of the same size. The three template points A, B, and C define the coordinate system O-XY of ...

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Abstract

The invention belongs to the technical field of navigation and positioning based on image pattern recognition and computer, and discloses a rendezvous and docking visual navigation and positioning method based on coded targets. The present invention obtains the three-dimensional coordinates of the template points and feature points on the coded target under the CCD1 coordinate system through the design and identification of the coded target, and calculates The conversion parameters between the target spacecraft coordinate system and the CCD1 camera coordinate system are obtained, combined with the installation parameters of the CCD1 camera on the tracker, the relative position and attitude of the target relative to the tracker are obtained. Adopting the present invention to carry out navigation and positioning in the rendezvous and docking approach section does not require the radar navigation results of the short-distance guidance section, and the recognition results are not affected by the radar navigation results; the present invention can be used to produce different numbers of coded targets and install them on the space station. The accuracy and reliability of relative positioning between the tracker and the target can be improved.

Description

Technical field [0001] The invention belongs to the technical field of image pattern recognition and computer-based navigation and positioning, and particularly relates to a rendezvous and docking visual navigation and positioning method based on an encoded target. Background technique [0002] At present, when two aircraft are navigating and positioning the approaching segment of rendezvous and docking, a CCD camera system is used to measure the relative position and relative attitude between the tracker and the target. The CCD camera is installed on the tracker, and the target light is installed on the target device as a cooperative target of the CCD camera. The CCD camera system collects the image of the target lamp on the target in real time, and then performs image recognition and measurement to obtain the relative position and posture of the target relative to the tracker. The target light is composed of 6 LEDs, of which 4 LEDs are symmetrically distributed on a circle, an...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/24
Inventor 王保丰袁建平陈宏敏童斌罗建军申敬松周立王镓张胜磊卜彦龙
Owner BEIJING AEROSPACE CONTROL CENT
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