Estimation method for position and attitude of cooperative target

Abstract

The invention discloses an estimation method for a position and attitude of a cooperative target. The method comprises the following steps of extracting key feature points of a cooperative target marking area from an intensity map and a depth map collected by a laser radar; implementing matching between key feature points of a mathematic model and key feature points of an observation model in thecooperative target marking area by use of deterministic annealing; and solving a rotation matrix and a translation vector in a position and attitude solution formula based on a singular value decomposition algorithm by use of the matching information of the key feature points to obtain the relative position and attitude information of the cooperative target. According to the estimation method forthe position and attitude of the cooperative target disclosed by the invention, the influence of ambient light on the estimation result can be effectively reduced in a laser radar measurement manner;the intensity and the relative distance information of each pixel are provided by the image collected by the laser radar; the measurement robustness and real-time are enhanced, and meanwhile the calculation amount is small in the process of solving of the position and attitude information of the cooperative target.

Description

technical field [0001] The invention relates to the technical field of determining the relative position and attitude of a cooperative target of a spacecraft, in particular to a method for estimating the position and attitude of a cooperative target based on laser radar. Background technique [0002] With the increase of human space activities, the number of space operation missions is increasing year by year. Space operation missions usually involve two space vehicles, which are respectively called the target vehicle and the tracking vehicle. When carrying out control tasks such as spacecraft on-orbit service, it is necessary to accurately measure the position and attitude information of the cooperation target. The cooperation target refers to the space vehicle that can provide effective cooperation information, such as installing an artificially designed target in advance. In order to successfully perform space operation tasks, it is necessary to accurately obtain informat...

AI Technical Summary

Problems solved by technology

[0003] The distance measurement of space cooperation targets has the characteristics of large scale changes and drastic changes in the space environment, especially the impact of illumination changes on measurement is very obvious, which brings great challenges to the distance measurement of space cooperation targets

The traditional measurement method uses a visible light camera to obtain the target's relative position and attitude estimation accuracy is limited by the noise interference of the space environment, which will lead to measurement error amplification and poor robustness

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