Vision measurement system for non-cooperative target relative navigation simulation verification, and method thereof

Abstract

The invention discloses a vision measurement system for non-cooperative target relative navigation simulation verification, and a method thereof. The system includes a physical simulation module, an analogue simulation module and a visual relative navigation module; the physical simulation module and the visual relative navigation module form a semi-physical semi-simulation verification subsystem,and the visual relative navigation module and the analogue simulation module form a full-simulation verification subsystem; and the physical simulation module and the analogue simulation module construct a non-cooperative target, and the visual relative navigation module realizes the perception, feature recognition, feature extraction, feature matching, state measurement and parameter identification of the non-cooperative target by a binocular camera.

Description

technical field [0001] The invention relates to the research fields of spacecraft relative navigation, on-orbit target perception, parameter measurement and identification, and spacecraft vision, especially a visual measurement system and method for non-cooperative target relative navigation simulation verification. Background technique [0002] In recent years, with the development of non-cooperative target on-orbit service technology, various aerospace powers have proposed the concept and demonstration of on-orbit service, among which relative navigation and measurement for non-cooperative targets is one of the key technologies. [0003] In the long distance, due to the influence of light and the number of target features, radar, laser range finder, GPS, star sensor or far-field camera are generally used for relative navigation; Position, attitude, configuration and quality feature information, binocular stereo vision cameras have been widely used. In short-range relative...

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Problems solved by technology

In short-range relative navigation, binocular vision is used to measure non-cooperative targets, which mainly involves modules such as image acquisition, camera calibration, feature extraction, stereo matching, and 3D reconstruction. Currently, there are relatively many studies on each module: image There are many ways to obtain it, mainly determined by the specific occasion and purpose; 3D reconstruction belongs to the post-processing of depth information, which is to restore the complete information of the visual surface of the scene; camera calibration has been well solved, and there are many methods that can be used; feature extraction At present, there is no commonly used theory,

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