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Method and device for measuring visual pose of simulated satellite on air floating platform

A technology for simulating satellites and air-floating platforms. It is applied in measuring devices, satellite radio beacon positioning systems, and optical devices. It can solve the problems of third-party movement range restrictions, achieve low cost, simple implementation, and real-time output poses. Effect

Inactive Publication Date: 2019-09-06
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

This method must ensure that there is a cooperative target in the field of view of the camera to measure effectively, which has great restrictions on the location of the camera and the movement range of the third party.

Method used

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  • Method and device for measuring visual pose of simulated satellite on air floating platform
  • Method and device for measuring visual pose of simulated satellite on air floating platform
  • Method and device for measuring visual pose of simulated satellite on air floating platform

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Embodiment Construction

[0029] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0030] Such as Figure 1-3 As shown, a method for visual pose measurement of a simulated satellite on an air-floating platform is disclosed, and the method includes the following steps:

[0031] Arrange the cooperation target 5, establish the world coordinate system to obtain the three-dimensional coordinates of the cooperation target 5;

[0032] Obtain the current frame image in real time through the camera module 3;

[0033] Process the image to identify the cooperation target 5, match the two-dimensional pixel coordinates with the three-dimensional coordinates, and obtain matching point pairs;

[0034] According to the PNP algorithm, the pose is solved for the matching point pairs.

[0035] Specifically, the cooperative target 5 is designed ...

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Abstract

The present invention discloses a method and a device for measuring a visual pose of a simulated satellite on an air floating platform. The method includes the following steps: arranging a cooperativetarget, establishing a world coordinate system to obtain three-dimensional coordinates of the cooperative target; obtaining a current frame image in real time by using a camera module; processing theimage to identify the cooperative target, matching two-dimensional pixel coordinates with the three-dimensional coordinates to obtain a matching point pair; and obtaining the pose for the matching point pair by solving according to an PNP algorithm. The present invention has low cost and is simple to be implemented, and it can be ensured that the cooperation target is included a camera vision ina moving range of the analog satellite, so that the pose can be stably outputted in real-time.

Description

technical field [0001] The invention relates to a visual pose measurement method and device for simulating satellites on an air-floating platform, and belongs to the technical field of visual pose measurement. Background technique [0002] With the development of aerospace technology, in order to reduce the risk of satellite development, it is usually necessary to conduct full-physics simulation experiments on satellite motion simulators. Based on the basic principle of air bearings, the marble air bearing platform can achieve smooth movement without friction and vibration. It can be used to simulate the microgravity environment of satellites in space for comprehensive method demonstration and performance testing. [0003] In order to verify the motion control of the simulated satellite, it is necessary to measure the absolute pose or relative motion of the simulated satellite on the air-floating platform in real time, including translation and rotation. It can usually be m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/00G01B11/00G01S19/23
CPCG01B11/002G01C11/00G01S19/23
Inventor 程月华杨吉多才徐贵力谢瑒董文德
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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