A monocular vision-based satellite formation relative attitude estimation method and system

CN116630421BActive Publication Date: 2026-08-28INNOVATION ACAD FOR MICROSATELLITES OF CAS
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Patent Information

Application Number
CN202310535624.2
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-05-12
Publication Date
2026-08-28
Estimated Expiration
2043-05-12

AI Technical Summary

Technical Problem

[0007]本发明提供了一种基于单目视觉的卫星编队相对姿态估计方法及系统，以解决目前现有的卫星编队相对姿态估计方法的精度还有待提升的技术问题

Benefits of technology

[0090]本发明针对卫星编队中的相对位姿测量问题，提出了一种改进ORB的视觉位姿估计方法。首先使用FAST特征点提取卫星表面特征，并采用四叉树筛进行特征筛选，为保证筛选特征可靠，提出了基于稳定策略的四叉树筛选方法，同时使用基于学习的描述符BEBLID对特征点进行描述；在特征匹配部分，考虑到卫星表面结构的相似性和对称性，使用GMS算法消除因结构对称带来的误匹配，相对位姿计算使用EPnP与正交迭代结合。从而进一步提高了姿态估计和位置估计的精度，进而可以为深空环境下，卫星编队任务提供重要的数据支撑。

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Abstract

The application discloses a satellite formation relative attitude estimation method and system based on monocular vision, and the method comprises the following steps: acquiring a satellite image in a satellite formation to be calculated; wherein the satellite image refers to an image of a measured satellite located in a field of view of a monocular measurement camera arranged on a detection satellite; extracting feature points of the satellite image based on a FAST algorithm and a BEBLID algorithm; completing feature matching of the satellite image based on the extracted feature points; and completing relative pose calculation by using a combination of EPnP and orthogonal iteration based on a feature matching result, so as to obtain a pose of the measured satellite relative to the monocular measurement camera as a pose of the measured satellite relative to the detection satellite. The application can effectively improve the pose estimation precision.
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Citation Information

Patent Citations

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    CN113554036A

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