A Target Pose Measurement Method Fused with Machine Vision and Laser Reference Point Information

Abstract

The invention belongs to the field of space target pose measurement, and relates to a target pose measurement method integrating machine vision and laser reference point information, which is applied to the non-cooperative target pose measurement process in space near-field operations and on-orbit services. To overcome the problem that the traditional orthogonal iterative algorithm has lower computational efficiency than the non-iterative algorithm, the laser reference point is used as the spatial feature point of the monocular vision pose measurement method, and the intermediate process of the traditional orthogonal iterative algorithm is integrated. The process eliminates the intermediate value of the translation vector to accelerate the solution of the orthogonal iterative algorithm. At the same time, the parallel perspective projection model is used to solve the initial value of the rotation matrix in the orthogonal iterative algorithm, which improves the performance and efficiency of the algorithm.

Description

technical field [0001] The invention belongs to the field of space target pose measurement, and in particular relates to a target pose measurement method integrating machine vision and laser reference point information, which is applied to the non-cooperative target pose measurement process in space near-field operations and on-orbit services. Background technique [0002] Accurately measuring the relative position and attitude of space targets (collectively referred to as pose) is the key to completing major cutting-edge defense and aerospace tasks such as space rendezvous and docking, offensive and defensive confrontation, on-orbit capture and maintenance, and the pose measurement method based on monocular vision is relatively The binocular and multi-eye vision measurement methods have the advantages of simple system structure, concise camera calibration steps, wide measurement field of view, low cost and high real-time measurement efficiency. With the above advantages, th...

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Problems solved by technology

[0004] In order to overcome the problem that the operation efficiency of the traditional orthogonal iterative algorithm is lower than that of the non-iterative algorithm, the present invention provides a spatial non-cooperative target pose measurement method that combines monocular vision and laser reference point information, using the laser reference point as the monocular The spatial feature points of the visual pose measurement method integrate the intermediate process of the traditional orthogonal iterative algorithm, and realize the accelerated solution of the orthogonal iterative algorithm by eliminating the intermediate value of the translation vector in the iterative process, and use the parallel perspective projection model to solve The initial value of the rotation matrix in the orthogonal iterative algorithm improves the performance and efficiency of the algorithm

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