Satellite Relative Attitude Estimation Method Based on Contour Similarity

Abstract

The invention discloses a satellite relative attitude estimation method based on contour similarity. The method comprises the steps of: simulation projection, model contour extraction, target image detection, target contour extraction, Hu moment similarity calculation, shape context similarity calculation and relative pose estimation. The method provided by the invention only employs the contour features of a target image of a target satellite, combines a known reference satellite, employs a set two-step similarity measurement strategy to achieve relative attitude estimation of the relative observation satellite of the target satellite without telemetry information and achieve attitude estimation when a telemetering device of the target device is failed, and can eliminate the dependence onhigh-resolution features such as points, lines and planes to achieve the long-distance relative attitude estimation and provide an initial value for the close-range relative attitude estimation basedon the high-resolution features, and therefore, the satellite relative attitude estimation method is simple and easy to implement.

Description

technical field [0001] The invention relates to the field of spacecraft attitude measurement, in particular to a satellite relative attitude estimation method based on outline similarity. Background technique [0002] At present, the relative attitude between two satellites can be estimated with high precision based on the telemetry information of the Global Navigation Satellite System (GNSS) and the Inertial Navigation System (INS); Attitude estimation needs to be realized by observing the sensors on the satellite. With the continuous advancement of high-resolution imaging technology, the relative attitude estimation method based on high-resolution observation images has been widely used. At present, the relative attitude estimation of satellites is mainly realized by using stereo cameras and monocular cameras. However, because the stereo camera is affected by the length of the observation baseline, the observation range is limited, and it is only suitable for the estimati...

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Problems solved by technology

However, because the stereo camera is affected by the length of the observation baseline, the observation range is limited, and it is only suitable for the estimation task at a very short distance; while the monocular camera is simple in equipment and not affected by the baseline when used, but the use of a monocular camera requires high resolution. The support of features (such as point, line, surface information), when the observation distance is long or the observation camera is weak, and the observed image can only provide the rough outline information of the target satellite, the relative attitude estimation of the satellite cannot be realized

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