Marker-based non-cooperative target pose measuring method
A non-cooperative target, pose measurement technology, applied in the field of vision measurement, can solve the problem of low accuracy of non-cooperative target pose measurement, and achieve the effect of solving low measurement accuracy and accurately measuring pose information
Active Publication Date: 2018-09-21
NANJING UNIV OF POSTS & TELECOMM
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[0004] The present invention proposes a non-cooperative target pose measurement method based on a marker, realizes accurate pose measurement of the target, and solves the technical problem of low accuracy of non-cooperative target pose measurement
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[0029] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.
[0030] The invention proposes a marker-based non-cooperative target pose measurement method. The flow chart of the marker-based non-cooperative target pose measurement method is as follows: figure 1 As shown, the method includes the following steps:
[0031] Step 1: Establish the camera coordinate system, image coordinate system and target coordinate system, based on the camera perspective projection model, take the camera optical center as the origin of the camera coordinate system, and the X-axis and Y-axis are parallel to the u-axis ...
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The invention discloses a marker-based non-cooperative target pose measuring method. The marker-based non-cooperative target pose measuring method comprises the following steps: firstly, identifying different markers, and solving the poses of the markers to obtain the relative pose between each marker coordinate system and a camera coordinate system; recovering three-dimensional coordinates of feature points, positioning the markers, and solving pose parameters between each marker coordinate system and a target coordinate system; accurately estimating the relative pose between a tracking spacecraft and a target spacecraft. Through introduction of the predesigned markers, the pose information can be measured more accurately, so that the technical problem of low accuracy of non-cooperative target pose measurement is solved, and the defect that the tracking spacecraft cannot acquire a complete image of a specific component of the target spacecraft for identifying and positioning in a rendezvous and docking near-distance stage is overcome.
Description
technical field [0001] The invention belongs to the field of visual measurement in space rendezvous and docking technology, and in particular relates to a marker-based non-cooperative target pose measurement method. Background technique [0002] Space rendezvous and docking technology is one of the three basic technologies in the field of manned spaceflight, and is the primary condition for realizing on-orbit services such as spacecraft assembly, recovery, supply, maintenance, astronaut exchange and rescue. In the final approach stage of rendezvous and docking, the relative pose of the target spacecraft is generally provided by visual measurement. At present, the visual measurement technology based on the cooperation target is generally used in space rendezvous and docking tasks, and the application is relatively mature. However, the vast majority of spacecraft in orbit are non-cooperative targets, including faulty or invalid satellites, space junk, and non-own spacecraft, ...
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IPC IPC(8): G01C11/04G06T7/70G06T7/80
CPCG01C11/04G06T7/70G06T7/80
Inventor 高浩夏星宇胡海东
Owner NANJING UNIV OF POSTS & TELECOMM