Positioning and attitude determination method for resident object in observation space

Abstract

The invention discloses a positioning and attitude determination method for an observation space resident object, and the method comprises the steps: S1, extracting all resident object image points from a resident object image shot by an imaging detection sensor, and carrying out the screening of a target resident object image point, and obtaining the position of the target resident object image point; s2, all target resident object image points are communicated to form a cooperative marker, the inertial system coordinate position X of the cooperative marker is calculated, and the attitude # imgabs0 # of the cooperative marker in the inertial space is calculated at the same time; S3, the relative position delta X and the relative attitude # imgabs1 # between the imaging detection sensor and the cooperative marker under the temporary coordinate system are calculated; according to the attitude # imgabs2 # of the cooperative marker in the inertial space relative to the inertial system coordinate position X of the attitude # imgabs3 # cooperative marker and the relative position delta X, the attitude # imgabs4 # and the position Xsensor of the carrier in the inertial space are obtained. According to the invention, under the condition that a satellite navigation signal is interfered, the positioning and attitude determination of a carrier can be rapidly realized by observing and imaging a resident object in a near-earth space.

Description

Technical Field

[0001] The invention relates to the technical field of positioning and navigation, and in particular to a method for positioning and determining an object resident in an observation space. Background Art

[0002] Although satellite navigation technology has been widely used in various fields, the essence of satellite navigation is radio communication, which is very susceptible to environmental influences such as buildings and mountains. This results in the reliability of the satellite navigation system facing various environmental challenges at any time. Therefore, scholars from various countries are continuously exploring various attitude positioning methods that do not rely on satellite navigation.

[0003] With the increase of human space activities, a large number of man-made objects are stationed in near-Earth space, that is, a large number of man-made objects or spacecraft are deployed in the near-Earth space environment. The sunlight reflected by these man-made objects or spacecraft is easily observed by ground imaging detection sensors, and ground measurement and control can provide accurate orbital parameters. Therefore, these man-made objects or spacecraft naturally have the attributes of navigation "landmarks".

[0004] Therefore, the present invention proposes a method for enabling a carrier to achieve positioning and attitude determination without relying on navigation satellites by observing artificial residences with imaging detection sensors. Summary of the invention

[0005] The purpose of the present invention is to provide a method for positioning and determining the attitude of an object in space, which can quickly realize the positioning and determination of a carrier by observing and imaging the object in the sky when a satellite navigation signal is interfered with.

[0006] To achieve the above-mentioned object, the present invention provides a method for positioning and determining an attitude of an observation space resident object, which is used to detect the position and attitude of a carrier equipped with an imaging detection sensor through a resident object existing in near-Earth space. The positioning and determining attitude method comprises:

[0007] Step S1, extracting all resident object image points from the resident object image in the current field of view captured by the imaging detection sensor, screening out target resident object image points, and obtaining corresponding positions of the target resident object image points;

[0008] Step S2: connect all the target resident object image points to form a cooperative marker, obtain the inertial coordinate position X of the cooperative marker, and calculate the posture of the cooperative marker in the inertial space.

[0009] Step S3, calculating the relative position ΔX and relative posture between the imaging detection sensor and the cooperation marker in the temporary coordinate system

[0010] Step S4, based on the posture of the cooperation marker in the inertial space The relative posture between the imaging detection sensor and the cooperative marker The inertial coordinate position X of the cooperation marker and the relative position ΔX between the imaging detection sensor and the cooperation marker are used to obtain the attitude of the carrier in the inertial space. and position X sensor .

[0011] Optionally, step S1 includes:

[0012] S1.1, detecting all resident objects within the current field of view of the imaging detection sensor and forming resident object image points;

[0013] S1.2, completing the screening of the resident object image points according to the space target classification algorithm, and obtaining a number of target resident object image points and their corresponding coordinates in the image plane.

[0014] Optionally, step S2 comprises:

[0015] S2.1, numbering the selected target resident object image points, and connecting all the target resident object image points in a way of traversing all the target resident object image points with a minimum path and returning to the initial target resident object image point, so as to form a cooperation marker at the current moment;

[0016] S2.2, obtain the cooperation marker in the temporary coordinate system O temp -xyz position;

[0017] S2.3, according to the inertial coordinate position Get the attitude of the cooperation marker in the inertial space

[0018] Optionally, the temporary coordinate system O temp The build process of -xyz is:

[0019] The brightest image point in the cooperation marker is taken as the origin O temp , with the origin O temp The direction to the second brightest image point in the cooperation marker is the x-axis direction, the direction rotated 90° clockwise from the x-axis to the third brightest image point in the cooperation marker is the y-axis direction, and the z-axis direction is obtained by the right-hand rule.

[0020] Optionally, the process of obtaining the coordinate position of the cooperation marker in the inertial system includes:

[0021] Obtaining orbital parameters of the orbit where the cooperation marker is located;

[0022] Using an orbit recursive algorithm on the orbit parameters of the cooperation marker to obtain the inertial coordinate position of the cooperation marker at the required time;

[0023] The required time is the UTC time when the carrier makes a positioning and attitude determination request.

[0024] Optionally, in step S3, the relative position ΔX and relative posture between the imaging detection sensor and the cooperation marker in the temporary coordinate system are calculated by an image solving algorithm. Perform the solution.

[0025] Optionally, step S4 includes:

[0026] S4.1, according to the posture of the cooperative marker in the inertial space and the relative posture between the imaging detection sensor and the cooperative marker Get the carrier's attitude in inertial space

[0027] S4.2, according to the inertial coordinate position X of the cooperation marker and the relative position ΔX between the imaging detection sensor and the cooperation marker, obtain the position X of the carrier in the inertial space sensor ;

[0028] S4.3, the current carrier's posture in the inertial space and position X sensor Convert it into the position and attitude under the ground fixed system to achieve positioning and attitude determination.

[0029] Optionally, the attitude of the carrier in inertial space for:

[0030]

[0031] Optionally, the position X of the carrier in the inertial space sensor for:

[0032] X sensor =X+ΔX.

[0033] In summary, compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. The method for positioning and determining the attitude of a space resident object provided by the present invention does not need to rely on a star sensor, but is obtained by cooperative markers and relative attitude calculation, so the configuration requirements for the carrier are more relaxed.

[0035] 2. Compared with the prior art, the method for positioning and determining the attitude of space objects provided by the present invention does not require the participation of other sensors (such as inertial measurement sensors, horizontal inclinometers, etc.), and does not require stars to participate in the positioning process. Instead, it develops the application value of near-Earth space objects to form a method for positioning and determining the attitude of the carrier, expands the application field of imaging detection sensors, and improves the reliability of the attitude positioning algorithm. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is an operation flow chart of the positioning and posture determination method of the present invention;

[0037] Figure 2 It is a schematic diagram of the detection scenario of the present invention;

[0038] Figure 3 These are the first artificial satellite image point, the second artificial satellite image point and the third artificial satellite image point of the present invention. DETAILED DESCRIPTION

[0039] The following will be combined with the attached Figures 1 to 3 , the technical content, structural features, objectives achieved and effects of the present invention are described in detail through preferred embodiments.

[0040] It should be noted that the drawings are in a very simplified form and use non-precise proportions. They are only used to conveniently and clearly assist in explaining the embodiments of the present invention, and are not used to limit the conditions for the implementation of the present invention. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical content disclosed by the present invention.

[0041] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0042] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] The present invention provides a method for positioning and determining the attitude of space objects, which can detect the position and attitude of a carrier equipped with an imaging detection sensor through the widely existing space objects such as numbered and orbited spacecraft, rocket final stages, and failed space debris in near-Earth space. Figure 1 As shown, the positioning and posture determination method includes the following steps:

[0044] Step S1, extracting all resident object image points from the resident object image in the current field of view captured by the imaging detection sensor, screening out target resident object image points, and obtaining corresponding positions of the target resident object image points;

[0045] S1.1, detecting all resident objects within the current field of view of the imaging detection sensor and forming resident object image points;

[0046] S1.2, completing the screening of the resident object image points according to the space target classification algorithm, and obtaining a number of target resident object image points and their corresponding coordinates in the image plane.

[0047] Step S2: connect all the target resident object image points to form a cooperative marker, obtain the inertial coordinate position X of the cooperative marker, and calculate the posture of the cooperative marker in the inertial space.

[0048] S2.1, numbering the selected target resident object image points, and connecting all the target resident object image points in a way of traversing all the target resident object image points with a minimum path and returning to the initial target resident object image point, so as to form a cooperation marker at the current moment;

[0049] Specifically, a traveling salesman algorithm (TSP) may be used to traverse and connect all target resident object image points to form a cooperative marker.

[0050] S2.2, obtain the cooperation marker in the temporary coordinate system O temp -xyz position, used as relative position ΔX and relative attitude The expression benchmark;

[0051] Among them, construct a temporary coordinate system O temp The process of -xyz is as follows:

[0052] The brightest image point in the cooperation marker is taken as the origin O temp , with the origin O temp The direction to the second brightest image point O1 in the cooperation marker is the x-axis direction, the direction of the third brightest image point O2 in the cooperation marker is rotated 90° clockwise from the x-axis to the y-axis direction, and the z-axis direction is obtained by the right-hand rule;

[0053] S2.3, according to the inertial coordinate position of the cooperation marker, obtain the posture of the cooperation marker in the inertial space

[0054] The process of obtaining the coordinate position of the cooperation marker in the inertial system is as follows:

[0055] Obtaining orbital parameters of the orbit where the cooperation marker is located;

[0056] The orbital parameters of the cooperation marker are subjected to an orbital recursion algorithm to obtain the inertial coordinate position of the cooperation marker at the required time:

[0057] The required time refers to the UTC (Universal Coordinated Time) time when the carrier makes a positioning and attitude determination request.

[0058] Step S3, calculating the relative position ΔX and relative posture between the imaging detection sensor and the cooperation marker in the temporary coordinate system

[0059] Specifically, the relative position ΔX and relative posture between the imaging detection sensor and the cooperation marker in the temporary coordinate system are calculated by an image solving algorithm. Perform solution; in a specific embodiment of the present invention, the image solution algorithm is a SLAM (Simultaneous Localization and Mapping) algorithm.

[0060] Step S4, based on the posture of the cooperation marker in the inertial space The relative posture between the imaging detection sensor and the cooperative marker The inertial coordinate position X of the cooperation marker and the relative position ΔX between the imaging detection sensor and the cooperation marker are used to obtain the attitude of the carrier in the inertial space. and position X sensor .

[0061] S4.1, according to the posture of the cooperative marker in the inertial space and the relative posture between the imaging detection sensor and the cooperative marker Get the carrier's attitude in inertial space

[0062] Among them, the posture of the carrier in the inertial space for:

[0063] S4.2, according to the inertial coordinate position X of the cooperation marker and the relative position ΔX between the imaging detection sensor and the cooperation marker, obtain the position X of the carrier in the inertial space sensor ;

[0064] Among them, the position X of the carrier in the inertial space sensor For: X sensor =X+ΔX.

[0065] S4.3, the current carrier's posture in the inertial space and position X sensor Convert it into the position and attitude under the ground fixed system to achieve positioning and attitude determination.

[0066] Specifically, the earth-fixed system is the WGS-84 Earth-centered Earth-fixed coordinate system. The establishment and conversion methods of this coordinate system are common methods in the industry, so they are not described in detail.

[0067] In a specific embodiment of the present invention, Figure 2 As shown, with an aircraft 400 as a carrier, and with a first artificial satellite 100, a second artificial satellite 200 and a third artificial satellite 300 as resident objects, the aircraft 400 equipped with an imaging detection sensor is positioned and determined by the first artificial satellite 100, the second artificial satellite 200 and the third artificial satellite 300. The positioning and attitude determination method specifically includes the following steps:

[0068] Step S1, extracting all the resident object image points from the resident object image in the current field of view captured by the imaging detection sensor, and screening out the resident object image points. Figure 3 The three target resident object image points of the first artificial satellite image point S1, the second artificial satellite image point S2 and the third artificial satellite image point S3 are shown, and the corresponding positions of the first artificial satellite image point S1, the second artificial satellite image point S2 and the third artificial satellite image point S3 are obtained respectively;

[0069] S1.1, detecting all resident objects in the current field of view through an imaging detection sensor and forming resident object image points;

[0070] S1.2, screen the resident object image points according to the space target classification algorithm, and obtain the three target resident object image points, namely the first artificial satellite image point S1, the second artificial satellite image point S2 and the third artificial satellite image point S3, and the coordinates corresponding to the first artificial satellite image point S1 in the image plane The coordinates of the second satellite image point S2 in the image plane The coordinates of the third satellite image point S3 in the image plane

[0071] Step S2, calculating the attitude of the first artificial satellite image point S1, the second artificial satellite image point S2 and the third artificial satellite image point S3 in the inertial space after being connected in the temporary coordinate system

[0072] S2.1, numbering the first artificial satellite image point S1, the second artificial satellite image point S2 and the third artificial satellite image point S3, and connecting the first artificial satellite image point S1, the second artificial satellite image point S2 and the third artificial satellite image point S3 in a manner of traversing the first artificial satellite image point S1, the second artificial satellite image point S2 and the third artificial satellite image point S3 with a minimum path and returning to the first artificial satellite image point S1, so as to form an artificial satellite cooperation marker at the current moment;

[0073] In a specific embodiment of the present invention, a traveling salesman algorithm (TSP) is used to traverse and connect the first artificial satellite image point S1, the second artificial satellite image point S2 and the third artificial satellite image point S3 to form an artificial satellite cooperation marker.

[0074] S2.2, obtain the cooperation marker in the temporary coordinate system O temp -xyz position;

[0075] Among them, construct a temporary coordinate system O temp The process of -xyz is as follows:

[0076] The brightest image point in the artificial satellite cooperation marker is taken as the origin O temp , with the origin O temp The direction to the second brightest image point O1 in the artificial satellite cooperation marker is the x-axis direction, the direction of the third brightest image point O2 in the artificial satellite cooperation marker is rotated 90° clockwise from the x-axis to the y-axis direction, and the z-axis direction is obtained by the right-hand rule;

[0077] S2.3, according to the inertial coordinate position of the artificial satellite cooperation marker, obtain the posture of the artificial satellite cooperation marker in the inertial space

[0078] The process of obtaining the coordinate position of the artificial satellite cooperation marker in the inertial system is as follows:

[0079] Obtaining orbital parameters of the orbit where the artificial satellite cooperation marker is located;

[0080] The orbital parameters of the artificial satellite cooperation marker are subjected to an orbit recursive algorithm to obtain the inertial coordinate position of the artificial satellite cooperation marker at the required time:

[0081] The required time refers to the UTC (Universal Coordinated Time) time when the carrier makes a positioning and attitude determination request.

[0082] Step S3, calculating the relative position ΔX and relative attitude between the imaging detection sensor and the artificial satellite cooperation marker in the temporary coordinate system

[0083] Specifically, the relative position ΔX and relative attitude between the imaging detection sensor and the artificial satellite cooperation marker in the temporary coordinate system are calculated by the image solving algorithm. In a specific embodiment of the present invention, the image solving algorithm is a SLAM (Simultaneous Localization and Mapping) algorithm.

[0084] Step S4, based on the attitude of the artificial satellite cooperation marker in the inertial space The relative attitude between the imaging detection sensor and the artificial satellite cooperation marker The inertial coordinate position X of the artificial satellite cooperation marker and the relative position ΔX between the imaging detection sensor and the artificial satellite cooperation marker are used to calculate the attitude of the aircraft 400 in the inertial space. and position X sensor .

[0085] S4.1, according to the attitude of the artificial satellite cooperation marker in the inertial space and the relative attitude between the imaging detection sensor and the artificial satellite cooperation marker Get the attitude of aircraft 400 in inertial space

[0086] The attitude of the aircraft 400 in the inertial space is for:

[0087] S4.2, according to the inertial coordinate position X of the artificial satellite cooperation marker and the relative position ΔX between the imaging detection sensor and the artificial satellite cooperation marker, obtain the position X of the aircraft 400 in the inertial space sensor ;

[0088] The position X of the aircraft 400 in the inertial space is sensor For: X sensor =X+ΔX.

[0089] S4.3, the attitude of the aircraft 400 in the inertial space at the current moment and position X sensorConvert it into the position and attitude under the ground fixed system to achieve positioning and attitude determination.

[0090] In a specific embodiment of the present invention, the earth-fixed coordinate system is the WGS-84 Earth-centered Earth-fixed coordinate system.

[0091] In summary, the method for positioning and determining the attitude of an object in space provided by the present invention can meet the requirements of rapid attitude positioning of the carrier with anti-interference when the satellite navigation signal is interfered with. The present invention gets rid of the dependence of attitude positioning on the satellite navigation system, develops the application value of objects in near-Earth space, expands the application field of imaging detection sensors, and improves the reliability of attitude positioning algorithms.

[0092] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the invention. After reading the above content, it will be obvious to those skilled in the art for various modifications and substitutions of the present invention. Therefore, the protection scope of the present invention should be limited by the attached claims.

Claims

1. A method for positioning and determining the attitude of a space resident object, which is used to detect the position and attitude of a carrier equipped with an imaging detection sensor through a resident object existing in near-Earth space, characterized in that: The positioning and posture determination method includes: Step S1, extracting all resident object image points from the resident object image in the current field of view captured by the imaging detection sensor, screening out target resident object image points, and obtaining corresponding positions of the target resident object image points; Step S2: connect all the target resident object image points to form a cooperative marker in a temporary coordinate system, and calculate the inertial coordinate position X of the cooperative marker, and calculate the posture of the cooperative marker in the inertial space. Step S3, calculating the relative position ΔX and relative posture between the imaging detection sensor and the cooperation marker in the temporary coordinate system Step S4, based on the posture of the cooperation marker in the inertial space The relative posture between the imaging detection sensor and the cooperative marker The inertial coordinate position X of the cooperation marker and the relative position ΔX between the imaging detection sensor and the cooperation marker are used to obtain the attitude of the carrier in the inertial space. and position X sensor .

2. The method for positioning and determining the attitude of a resident object in an observation space according to claim 1, characterized in that: The step S1 comprises: S1.1, detecting all resident objects within the current field of view of the imaging detection sensor and forming resident object image points; S1.2, completing the screening of the resident object image points according to the space target classification algorithm, and obtaining a number of target resident object image points and their corresponding coordinates in the image plane.

3. The method for positioning and determining the posture of a resident object in an observation space according to claim 2, characterized in that: The step S2 comprises: S2.1, numbering the selected target resident object image points, and connecting all the target resident object image points in a way of traversing all the target resident object image points with a minimum path and returning to the initial target resident object image point, so as to form a cooperation marker at the current moment; S2.2, obtain the cooperation marker in the temporary coordinate system O temp -xyz position; S2.3, according to the inertial coordinate position Get the attitude of the cooperation marker in the inertial space 4. The method for positioning and determining the posture of a resident object in an observation space according to claim 3, characterized in that: The temporary coordinate system O temp The build process of -xyz is: The brightest image point in the cooperation marker is taken as the origin O temp , with the origin O temp The direction to the second brightest image point in the cooperation marker is the x-axis direction, the direction rotated 90° clockwise from the x-axis to the third brightest image point in the cooperation marker is the y-axis direction, and the z-axis direction is obtained by the right-hand rule.

5. The method for positioning and determining the posture of a resident object in an observation space according to claim 3, characterized in that: The process of obtaining the coordinate position of the cooperation marker in the inertial system includes: Obtaining orbital parameters of the orbit where the cooperation marker is located; Using an orbit recursive algorithm on the orbit parameters of the cooperation marker to obtain the inertial coordinate position of the cooperation marker at the required time; The required time is the UTC time when the carrier makes a positioning and attitude determination request.

6. The method for positioning and determining the posture of a resident object in an observation space as claimed in claim 3, characterized in that: In step S3, the relative position ΔX and relative posture between the imaging detection sensor and the cooperation marker in the temporary coordinate system are calculated by an image solving algorithm. Perform the solution.

7. The method for positioning and determining the attitude of a resident object in an observation space according to claim 6, characterized in that: The step S4 comprises: S4.1, according to the posture of the cooperative marker in the inertial space and the relative posture between the imaging detection sensor and the cooperative marker Get the carrier's attitude in inertial space S4.2, according to the inertial coordinate position X of the cooperation marker and the relative position ΔX between the imaging detection sensor and the cooperation marker, obtain the position X of the carrier in the inertial space sensor ; S4.3, the current carrier's posture in the inertial space and position X sensor Convert it into the position and attitude under the ground fixed system to achieve positioning and attitude determination.

8. The method for positioning and determining the posture of a resident object in an observation space according to claim 7, characterized in that: The carrier's attitude in inertial space for:

9. The method for positioning and determining the posture of a resident object in an observation space according to claim 7, characterized in that: The position X of the carrier in the inertial space sensor for: X sensor =X+ΔX。

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