Non-cooperative spacecraft relative pose measurement method based on multi-source information fusion

Abstract

The invention relates to a non-cooperative spacecraft relative pose measurement method based on multi-source information fusion, and the method comprises the steps: firstly, designing a non-cooperative spacecraft model, and constructing a simulation model of a binocular camera and a laser radar; then, considering that the binocular camera can acquire all information of the non-cooperative spacecraft but the accuracy of the recovered depth information is influenced by configuration calibration of the binocular camera, and the laser radar imaging can directly acquire the accurate depth information of the non-cooperative spacecraft but the laser radar imaging point clouds are sparse, and combining the advantages of the two types of sensors; designing a sensor data fusion structure to measure the relative pose of the non-cooperative spacecraft; and finally, based on the measured target relative pose, performing iterative operation by using laser radar data to improve the measurement precision of the relative pose of the non-cooperative spacecraft. According to the invention, the high-precision identification of the relative pose information of the non-cooperative spacecraft is realized through the measurement of the relative pose of the non-cooperative spacecraft based on the binocular camera and the laser radar data fusion.

Description

technical field [0001] The invention belongs to the field of navigation design of non-cooperative spacecraft, and relates to a method for measuring the relative pose of non-cooperative spacecraft based on multi-source information fusion. Background technique [0002] At present, the mission requirements of spacecraft tend to be diverse and complex, including various space operations, such as close-range operations such as on-orbit refueling, on-orbit maintenance and assembly, and on-orbit module replacement; there are a lot of space junk in space , there is a risk of collision between spacecraft running in space, and the cleaning of space junk can ensure the safety of the spacecraft; spacecraft rendezvous and docking requires accurate knowledge of the relative position and orientation information of the main and auxiliary spacecraft; and so on. With the rapid development of space technology and the increasing strategic position of space, the research on the space mission of ...

AI Technical Summary

Problems solved by technology

[0007] In order to solve the problem that a single sensor cannot accurately and quickly obtain the relative pose information of non-cooperative spacecraft due to the influence of the environment and the characteristics of the sensor itself, the present invention is based on the two most commonly used sensors for space navigation: binocular camera and laser radar , to provide a non-cooperative spacecraft relative pose measurement method based on multi-source information fusion, to overcome the shortcomings of relying on a single sensor to measure the relative pose of non-cooperative spacecraft, and to establish a binocular camera and lidar data fusion structure to measure non-cooperative The relative pose of the cooperative spacecraft ensures the measurement accuracy of the relative pose of the non-cooperative spacecraft

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