Method for measuring relative pose of noncooperative target

Abstract

The invention discloses a method for measuring a relative pose of a noncooperative target. The method comprises the steps: selecting an object to be measured with equilateral triangle characteristics as the noncooperative target, and establishing a single line structured light based visual measurement system model; extracting three straight lines of the object to be measured and crossing points between single line structured light and the object to be measured, so as to obtain coordinates of five characteristic points of the object to be measured in an image coordinate system; carrying out calculation according to geometric constraint conditions of the object to be measured, so as to obtain coordinates of the five characteristic points of the object to be measured in a camera coordinate system; carrying out calculation according to distance translation invariance and the geometric constraint conditions of the object to be measured so as to obtain coordinates of the five characteristic points of the object to be measured in a world coordinate system, substituting the coordinates into a transformation equation of the camera coordinate system and the world coordinate system, and carrying out solving, so as to obtain the relative pose of the object to be measured, i.e., the relative pose of the noncooperative target. According to the method, through increasing an auxiliary line structured light source to monocular vision, the measurement on the relative pose of triangular characteristics of unknown dimensions is achieved.

Description

technical field [0001] The invention relates to the field of target relative pose measurement, in particular to a method for measuring the relative pose of a non-cooperative target. Background technique [0002] In recent years, the use of space robots to provide on-orbit service to geostationary satellites has become a research hotspot, and relative pose measurement is the prerequisite for space robots to finally dock and capture targets. Most of the current geostationary orbit satellites are non-cooperative targets without special measurement markers installed. Therefore, the relative pose measurement of non-cooperative targets is a difficult research point. [0003] The measurement method based on the target feature is one of the directions of the relative pose measurement of the non-cooperative target. This method mainly uses the visual camera to obtain the natural feature image on the non-cooperative target, and uses the principle of perspective projection to restore th...

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the shortcomings of the unknown size of the non-cooperative target and the inability of the visual measurement equipment to obtain enough identifiable features for calculating the relative pose due to the limitation of the field of view, the present invention proposes a method for measuring the relative pose of the non-cooperative target. An auxiliary line structured light source is added to the visual vision to realize the relative pose measurement of triangular features of unknown size

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