Virtual stereoscopic vision-based non-cooperative target cooperative measuring method and system

Abstract

The invention discloses a virtual stereoscopic vision-based non-cooperative target cooperative measuring method. The virtual stereoscopic vision-based non-cooperative target cooperative measuring method comprises following steps: three dimensional cloud of points of a non-cooperative tumbling target are obtained; the relative pose relation of a satellite nozzle center and an A-frame inscribed circle center is extracted; the obtained satellite nozzle and A-frame image are subjected to image pre-treatment processing; coordinate transition is carried out so as to obtain the pose relation at a specific coordinate system; the radius of the satellite nozzle and the A-frame inscribed circle are obtained, and the pose information of the nozzle and the A-frame center is obtained. The invention alsodiscloses a virtual stereoscopic vision-based non-cooperative target cooperative measuring system. The virtual stereoscopic vision-based non-cooperative target cooperative measuring method is capableof reducing the hardware numbers of the measuring system, improving the capacity of the measuring system, reducing sensor numbers, reducing space emission cost, expanding space measuring capacity, isrelatively high in calculation efficiency, and can be widely used in the technical field of space non-cooperative satellite vision measuring.

Description

technical field [0001] The invention relates to the technical field of visual measurement of space non-cooperative failure satellites, in particular to a method and system for cooperative measurement based on non-cooperative targets. Background technique [0002] With the deepening of space exploration, the number of spacecraft in orbit is increasing. Except for a small number of spacecraft that are still working normally, most of them have reached the end of their life and have been abandoned, and some of them cannot work normally due to failures, making orbital garbage continue to spread. accumulation. The use of space robots for satellite maintenance and orbital garbage cleaning has become a hot research direction in recent years. However, as non-cooperative targets for on-orbit maintenance, most of them are in a rolling state, and their dynamic characteristics are extremely complex. [0003] In order to realize on-orbit service, the first technical difficulty to be sol...

AI Technical Summary

Problems solved by technology

In the current research, the end of the robotic arm for visual measurement of non-cooperative targets needs to carry a binocular camera. Before the arms cooperate to capture non-cooperative targets, traditional research requires two pairs of binocular cameras for independent measurement of both arms (such as circle shaped satellite nozzles, triangular sailboard brackets, etc.), it is difficult to meet the real-time requirements of space vision measurement, and at the same time, the amount of image data is large, which puts forward higher requirements for the storage capacity and computing power of the spaceborne system, which is not conducive to Vision measurement of space robots, and brings many unfavorable factors to the cooperative capture of dual arms

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