A method for locating and determining the attitude of objects in space.

Abstract

This invention discloses a method for locating and determining the attitude of a stationary object in observation space, comprising: S1, extracting all image points of the stationary object from images captured by an imaging sensor, filtering and obtaining target stationary object image points and their positions; S2, connecting all target stationary object image points to form a cooperative marker, calculating the inertial coordinate position X of the cooperative marker, and simultaneously calculating the attitude of the cooperative marker in inertial space; S3, solving the relative position ΔX and relative attitude between the imaging sensor and the cooperative marker in a temporary coordinate system; S4, obtaining the attitude and position X of the carrier in inertial space based on the attitude of the cooperative marker in inertial space, the relative attitude of the cooperative marker, the inertial coordinate position X of the cooperative marker, and the relative position ΔX. sensor This invention enables rapid positioning and attitude determination of a carrier by observing and imaging objects in near-Earth space, even when satellite navigation signals are interfered with.

Description

Technical Field

[0001] This invention relates to the field of positioning and navigation technology, and in particular to a method for positioning and attitude determination of an object residing in space. Background Technology

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

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

[0004] Therefore, this invention proposes a method for positioning and attitude determination of a carrier without relying on navigation satellites by observing artificial dwelling objects through an imaging detection sensor. Summary of the Invention

[0005] The purpose of this invention is to provide a method for positioning and attitude determination of objects in space, which can quickly achieve positioning and attitude determination of the carrier by observing and imaging objects in the sky when satellite navigation signals are interfered with.

[0006] To achieve the above objectives, the present invention provides a method for locating and determining the attitude of an object in near-Earth space, used to detect the position and attitude of a carrier equipped with an imaging sensor by means of an object in near-Earth space. This method includes:

[0007] Step S1: Extract all lingering object image points from the lingering object image captured by the imaging detection sensor within the current field of view, filter out the target lingering object image points, and obtain the corresponding position of the target lingering object image points;

[0008] Step S2: Connect all the target residing object image points to form a cooperative marker, and obtain the inertial coordinate position X of the cooperative marker. At the same time, calculate the attitude of the cooperative marker in inertial space.

[0009] Step S3: Calculate the relative position ΔX and relative attitude between the imaging detector and the cooperative marker in the temporary coordinate system.

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

[0011] Optionally, step S1 includes:

[0012] S1.1, Detect all stationary objects within the current field of view of the imaging detection sensor and form stationary object image points;

[0013] S1.2, the stationary object image points are screened according to the spatial target classification algorithm to obtain several stationary object image points and their corresponding coordinates in the image plane.

[0014] Optionally, step S2 includes:

[0015] S2.1, Number the selected target stationary image points, and connect all target stationary image points by traversing all target stationary image points with the shortest path and returning to the initial target stationary image point to form the cooperation marker at the current moment;

[0016] S2.2, obtain the cooperative marker in the temporary coordinate system O temp Position under -xyz;

[0017] S2.3, based on the coordinate position of the inertial system The attitude of the cooperative marker in inertial space is obtained.

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

[0019] The origin O is the brightest image point among the aforementioned cooperative markers. temp With the origin O temp The direction of the second brightest image point in the cooperative marker is taken as the x-axis direction, and the direction of the x-axis rotated 90° clockwise from the direction of the third brightest image point in the cooperative marker is taken as the y-axis direction. The z-axis direction is then obtained by using the right-hand rule.

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

[0021] Obtain the orbital parameters of the orbit containing the cooperative marker;

[0022] The orbital parameters of the cooperative marker are obtained by using an orbital recursion algorithm to obtain the inertial coordinate position of the cooperative marker at the required time.

[0023] The required time is the UTC time at which the carrier submits a positioning and orientation request.

[0024] Optionally, in step S3, the relative position ΔX and relative attitude between the imaging detector and the cooperative marker in the temporary coordinate system are determined using an image processing algorithm. Perform the solution.

[0025] Optionally, step S4 includes:

[0026] S4.1, based on the attitude of the cooperative marker in inertial space and the relative attitude between the imaging detection sensor and the cooperative marker. Obtain the attitude of the carrier in inertial space.

[0027] S4.2, based on the inertial coordinate position X of the cooperative marker and the relative position ΔX between the imaging detection sensor and the cooperative marker, the position X of the carrier in inertial space is obtained. sensor ;

[0028] S4.3, the attitude of the carrier in inertial space at the current moment. and position X sensor It is converted into position and attitude under the ground-fixed system in order 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 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 present invention provides a method for locating and determining the attitude of a space-dwelling object, which does not rely on a star sensor, but is obtained by cooperative markers and relative attitude calculation, thus making the requirements for the configuration of the carrier more relaxed.

[0035] 2. The method for positioning and attitude determination of a space-dwelling object provided by this invention, compared with the prior art, does not require the participation of other sensors (such as inertial measurement sensors, horizontal inclinometers, etc.) and does not require the participation of stars in the positioning process. Instead, it forms a method for positioning and attitude determination of a carrier by developing the application value of near-Earth space-dwelling objects, which expands the application field of imaging detection sensors and improves the reliability of the attitude determination and positioning algorithm. Attached Figure Description

[0036] Figure 1 This is a flowchart illustrating the operation of the positioning and orientation method of the present invention.

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

[0038] Figure 3 These are the first, second, and third artificial satellite image points of the present invention. Detailed Implementation

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

[0040] It should be noted that the accompanying drawings are in a very simplified form and use non-precise proportions. They are only used to facilitate and clarify the purpose of illustrating the embodiments of the present invention, and are not intended to limit the implementation conditions of the present invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationship, or adjustments to the size should still fall within the scope of the technical content disclosed in the present invention, provided that they do not affect the effects and objectives that the present invention can produce.

[0041] In the description of this invention, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0042] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0043] This invention provides a method for locating and determining the attitude of objects in near-Earth space. It can detect the position and attitude of a carrier equipped with an imaging sensor using numerous numbered and orbit-determined objects in near-Earth space, such as spacecraft, rocket final stages, and defunct space debris. Figure 1 As shown, the positioning and attitude determination method includes the following steps:

[0044] Step S1: Extract all lingering object image points from the lingering object image captured by the imaging detection sensor within the current field of view, filter out the target lingering object image points, and obtain the corresponding position of the target lingering object image points;

[0045] S1.1, Detect all stationary objects within the current field of view of the imaging detection sensor and form stationary object image points;

[0046] S1.2, the stationary object image points are screened according to the spatial target classification algorithm to obtain several stationary object image points and their corresponding coordinates in the image plane.

[0047] Step S2: Connect all the target residing object image points to form a cooperative marker, and obtain the inertial coordinate position X of the cooperative marker. At the same time, calculate the attitude of the cooperative marker in inertial space.

[0048] S2.1, Number the selected target stationary image points, and connect all target stationary image points by traversing all target stationary image points with the shortest path and returning to the initial target stationary image point to form the cooperation marker at the current moment;

[0049] Specifically, the Traveling Salesman Algorithm (TSP) can be used to traverse and connect all target dwelling image points to form cooperative markers.

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

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

[0052] The origin O is the brightest image point among the aforementioned cooperative markers. temp With the origin O temp The direction of the second brightest image point O1 in the cooperative marker is taken as the x-axis direction, and the direction of the x-axis rotated 90° clockwise from the direction of the third brightest image point O2 in the cooperative marker is taken as the y-axis direction. The z-axis direction is then obtained by using the right-hand rule.

[0053] S2.3, Based on the inertial coordinate position of the cooperative marker, obtain the attitude of the cooperative marker in inertial space.

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

[0055] Obtain the orbital parameters of the orbit containing the cooperative marker;

[0056] The orbital parameters of the cooperative marker are calculated using a recursive orbital algorithm to obtain the inertial coordinates of the cooperative marker at the desired time.

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

[0058] Step S3: Calculate the relative position ΔX and relative attitude between the imaging detector and the cooperative marker in the temporary coordinate system.

[0059] Specifically, the relative position ΔX and relative attitude between the imaging sensor and the cooperative marker in the temporary coordinate system are determined using an image processing algorithm. The image is solved; in a specific embodiment of the present invention, the image solving algorithm is the SLAM (Simultaneous Localization and Mapping) algorithm.

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

[0061] S4.1, based on the attitude of the cooperative marker in inertial space and the relative attitude between the imaging detection sensor and the cooperative marker. Obtain the attitude of the carrier in inertial space.

[0062] The attitude of the carrier in inertial space. for:

[0063] S4.2, based on the inertial coordinate position X of the cooperative marker and the relative position ΔX between the imaging detection sensor and the cooperative marker, the position X of the carrier in inertial space is obtained. sensor ;

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

[0065] S4.3, the attitude of the carrier in inertial space at the current moment. and position X sensor It is converted into position and attitude under the ground-fixed system in order to achieve positioning and attitude determination.

[0066] Specifically, the Earth-fixed system is the WGS-84 geocentric Earth-fixed coordinate system. The establishment and transformation methods of this coordinate system are common in the industry, so they will not be described in detail here.

[0067] In specific embodiments of the present invention, such as Figure 2 As shown, using an aircraft 400 as a carrier and a first artificial satellite 100, a second artificial satellite 200, and a third artificial satellite 300 as stationary objects, the aircraft 400 equipped with an imaging detection sensor is positioned and its attitude 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: Extract all stationary object image points from the stationary object image within the current field of view captured by the imaging detection sensor, and filter out those such as... Figure 3 The three target stationary object image points shown are the first artificial satellite image point S1, the second artificial satellite image point S2, and the third artificial satellite image point S3, 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, The imaging detection sensor detects all lingering objects in the current field of view and forms image points of the lingering objects;

[0070] S1.2, the stationary object image points are filtered according to the spatial target classification algorithm to obtain three target stationary object image points: the first artificial satellite image point S1, the second artificial satellite image point S2, and the third artificial satellite image point S3, as well as the coordinates of the first artificial satellite image point S1 in the image plane. The coordinates of image point S2 of the second artificial satellite in the image plane The coordinates of image point S3 on the third artificial satellite in the image plane

[0071] Step S2: Calculate the attitudes of the first artificial satellite image point S1, the second artificial satellite image point S2, and the third artificial satellite image point S3 in inertial space after they are connected in the temporary coordinate system.

[0072] S2.1 Number the first artificial satellite image point S1, the second artificial satellite image point S2, and the third artificial satellite image point S3, and connect the first artificial satellite image point S1, the second artificial satellite image point S2, and the third artificial satellite image point S3 by traversing the first artificial satellite image point S1, the second artificial satellite image point S2, and the third artificial satellite image point S3 with the least path and returning to the first artificial satellite image point S1, to form the artificial satellite cooperation marker at the current moment;

[0073] In a specific embodiment of the present invention, the 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 cooperative marker in the temporary coordinate system O temp Position under -xyz;

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

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

[0077] S2.3, Based on the inertial coordinates of the satellite cooperation marker, obtain the attitude of the satellite cooperation marker in inertial space.

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

[0079] Obtain the orbital parameters of the orbit containing the artificial satellite cooperation marker;

[0080] The orbital parameters of the satellite cooperation marker are calculated using an orbital recursion algorithm to obtain the inertial coordinates of the satellite cooperation marker at the desired time.

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

[0082] Step S3: Calculate the relative position ΔX and relative attitude between the imaging detector and the satellite cooperation marker in the temporary coordinate system.

[0083] Specifically, the relative position ΔX and relative attitude between the imaging detector and the satellite cooperation marker in the temporary coordinate system are determined using image processing algorithms. The image processing algorithm is then used for calculation. In a specific embodiment of the present invention, the image processing algorithm is a SLAM (Simultaneous Localization and Mapping) algorithm.

[0084] Step S4: Based on the attitude of the artificial satellite cooperation marker in inertial space. The relative attitude between the imaging sensor and the satellite cooperation marker The attitude of the aircraft 400 in inertial space is calculated using the inertial coordinates X of the satellite cooperation marker and the relative position ΔX between the imaging sensor and the satellite cooperation marker. and position X sensor .

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

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

[0087] S4.2, based on the inertial coordinates X of the satellite cooperation marker and the relative position ΔX between the imaging sensor and the satellite cooperation marker, the position X of the aircraft 400 in inertial space is obtained. sensor ;

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

[0089] S4.3, determine the current attitude of the aircraft 400 in inertial space. and position X sensorIt is converted into position and attitude under the ground-fixed system in order to achieve positioning and attitude determination.

[0090] In a specific embodiment of the present invention, the geofixed system is the WGS-84 geocentric geofixed coordinate system.

[0091] In summary, the method for locating and determining the attitude of a space-dwelling object provided by this invention can meet the requirements for rapid attitude determination and positioning of the carrier even when satellite navigation signals are interfered with. This invention eliminates the dependence on satellite navigation systems for attitude determination and positioning, develops the application value of near-Earth space-dwelling objects, expands the application field of imaging detection sensors, and improves the reliability of attitude determination and positioning algorithms.

[0092] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A method for locating and determining the attitude of a stationary object in near-Earth space, used to detect the position and attitude of a carrier equipped with an imaging sensor by means of a stationary object existing in near-Earth space, characterized in that, This positioning and attitude determination method includes: Step S1: Extract all lingering object image points from the lingering object image captured by the imaging detection sensor within the current field of view, filter out the target lingering object image points, and obtain the corresponding position of the target lingering object image points; Step S2: Connect all the target stationary object image points to form a cooperative marker in a temporary coordinate system, and calculate the inertial coordinate position X of the cooperative marker. At the same time, calculate the attitude of the cooperative marker in inertial space. Step S3: Calculate the relative position ΔX and relative attitude between the imaging detector and the cooperative marker in the temporary coordinate system. Step S4, based on the attitude of the cooperative marker in inertial space The relative attitude between the imaging detection sensor and the cooperative marker The inertial coordinate position X of the cooperative marker and the relative position ΔX between the imaging sensor and the cooperative marker are used to obtain the attitude of the carrier in inertial space. and position X sensc ; Step S2 includes: S2.1, Number the selected target stationary image points, and connect all target stationary image points by traversing all target stationary image points with the shortest path and returning to the initial target stationary image point to form the cooperation marker at the current moment; S2.2, obtain the cooperative marker in the temporary coordinate system O temp Position under -xyz; S2.3, based on the coordinate position of the inertial system The attitude of the cooperative marker in inertial space is obtained. The temporary coordinate system O temp The construction process of -xyz is as follows: The origin O is the brightest image point among the aforementioned cooperative markers. temp With the origin O temp The direction of the second brightest image point in the cooperative marker is taken as the x-axis direction, and the direction of the x-axis rotated 90° clockwise from the direction of the third brightest image point in the cooperative marker is taken as the y-axis direction. The z-axis direction is then obtained by using the right-hand rule.

2. The method for locating and determining the attitude of an observed space dwelling object as described in claim 1, characterized in that, Step S1 includes: S1.1, Detect all stationary objects within the current field of view of the imaging detection sensor and form stationary object image points; S1.2, the stationary object image points are screened according to the spatial target classification algorithm to obtain several stationary object image points and their corresponding coordinates in the image plane.

3. The method for locating and determining the attitude of an observed space dwelling object as described in claim 1, characterized in that, The process of obtaining the coordinate position of the cooperative marker in the inertial frame includes: Obtain the orbital parameters of the orbit containing the cooperative marker; The orbital parameters of the cooperative marker are obtained by using an orbital recursion algorithm to obtain the inertial coordinate position of the cooperative marker at the required time. The required time is the UTC time at which the carrier submits a positioning and orientation request.

4. The method for locating and determining the attitude of an observed space dwelling object as described in claim 1, characterized in that, In step S3, the relative position ΔX and relative attitude between the imaging detector and the cooperative marker in the temporary coordinate system are determined by an image processing algorithm. Perform the solution.

5. The method for locating and determining the attitude of an object residing in space as described in claim 4, characterized in that, Step S4 includes: S4.1, based on the attitude of the cooperative marker in inertial space and the relative attitude between the imaging detection sensor and the cooperative marker. Obtain the attitude P of the carrier in inertial space. I Sensor ; S4.2, based on the inertial coordinate position X of the cooperative marker and the relative position ΔX between the imaging detection sensor and the cooperative marker, the position X of the carrier in inertial space is obtained. sensc ; S4.3, determine the current attitude P of the carrier in inertial space. I Sensor and position X sensc It is converted into position and attitude under the ground-fixed system in order to achieve positioning and attitude determination.

6. The method for locating and determining the attitude of an observed space dwelling object as described in claim 5, characterized in that, The attitude P of the carrier in inertial space I Senso r is:

7. The method for locating and determining the attitude of an observed space dwelling object as described in claim 5, characterized in that, The carrier's position X in inertial space sensc for: X sensor =X+ΔX。

Images