A method for information transmission and fusion in a multimodal photoelectric relative measurement system in orbital space

Abstract

This invention discloses an information transmission and fusion method for a multimodal photoelectric relative measurement system in orbital space, belonging to the field of space data processing. The method includes: acquiring the target pointing angle measured using a monocular vision camera; calculating the target's position vector in the visual measurement coordinate system using the target pointing angle measured by the monocular vision camera; calculating the target's position vector in the laser measurement coordinate system using the target's position vector in the visual measurement coordinate system, thereby transmitting the target pointing angle from the visual side to the laser measurement system, enabling the laser ranging module to determine the target distance based on the target pointing angle; acquiring the target distance measured by the laser ranging module, and, according to the coordinate transformation between the visual measurement coordinate system and the laser measurement coordinate system, transmitting the target distance measured by the laser ranging module from the laser side to the visual side. This invention enables high-precision information transmission between references within a multi-reference discrete relative measurement system.

Description

Technical Field

[0001] This invention relates to the field of space data processing technology, and in particular to an information transmission and fusion method for a multimodal photoelectric relative measurement system in orbital space. Background Technology

[0002] In the field of space technology, six-degree-of-freedom relative pose measurement has wide applications in satellite formation control, baseline measurement, and on-board structure monitoring. Traditional monocular vision measurement techniques based on feature point localization (PnP) can achieve six-degree-of-freedom relative pose measurement, but due to the lack of target depth information, the accuracy of target position measurement in that direction is poor.

[0003] The patent with publication number CN119575403A and invention title "A Common Target Laser Vision High-Precision Relative Pose Measurement Method and Device" integrates monocular vision measurement with high-precision laser measurement to achieve high-precision six-degree-of-freedom relative pose acquisition. By using both to measure the same set of feature points, the laser ranging results provide target depth information that is lacking in monocular vision measurement, thus effectively improving the accuracy of target pose measurement.

[0004] However, monocular vision measurement and laser measurement are two independent modules, and their measurement reference coordinate systems are also separated in space. Therefore, the prerequisite for fusion measurement is effective information exchange between the two. That is, the monocular vision module needs to transmit the target orientation to the laser module based on its own measurement results, thereby providing the laser module with the necessary target orientation guidance information for ranging. After completing the ranging, the laser module needs to transmit the ranging result to the visual coordinate system and fuse it with the monocular vision measurement data for pose calculation. Although the coordinate transformation relationship between the two coordinate systems can be obtained through calibration, due to the characteristics of the two measurement systems, the monocular vision module can only obtain high-precision target orientation information, and the laser module can only obtain high-precision target distance information. Neither can obtain complete three-dimensional vector information of the target feature points, and therefore, direct coordinate transformation is not possible.

[0005] In summary, researching methods for information transfer and fusion between references within a multi-reference discrete relative measurement system is an important prerequisite for achieving high-precision relative pose measurement. Summary of the Invention

[0006] This invention provides a method for information transmission and fusion in a multimodal photoelectric relative measurement system for orbital space, enabling high-precision information transmission between references within a multi-reference discrete relative measurement system. The technical solution is as follows: On the one hand, a method for information transmission and fusion in a multimodal photoelectric relative measurement system in orbital space is provided, implemented by a measurement device in the measurement system. The measurement system further includes a monocular vision camera and a laser ranging module, which share the same cooperative target array. The method includes: Obtain the target pointing angle measured using a monocular vision camera; The target's pointing angle, measured by a monocular vision camera, is used to calculate the target's position vector in the visual measurement coordinate system. The position vector of the target in the laser measurement coordinate system is calculated by using the position vector of the target in the visual measurement coordinate system, so as to realize the target pointing angle from the visual side to the laser measurement, so that the laser ranging module can complete the target distance measurement based on the transmitted target pointing angle; The target distance measured by the laser ranging module is obtained, and the target distance measured by the laser ranging module is transferred from the laser side to the visual side by performing coordinate transformation between the visual measurement coordinate system and the laser measurement coordinate system.

[0007] On the other hand, an information transmission and fusion device for a multimodal photoelectric relative measurement system in orbital space is provided, the device comprising: Located within the measurement system, the measurement system further includes a monocular vision camera and a laser ranging module, the monocular vision camera and the laser ranging module sharing the same cooperative target array; the device includes: The first acquisition unit is used to acquire the target pointing angle measured by a monocular vision camera; The calculation unit is used to calculate the position vector of the target in the visual measurement coordinate system using the target pointing angle measured by the monocular vision camera. The first transmission unit is used to calculate the position vector of the target in the laser measurement coordinate system using the position vector of the target in the visual measurement coordinate system, so as to realize the target pointing angle from the visual side to the laser measurement, so that the laser ranging module can complete the target distance measurement based on the transmitted target pointing angle. The second acquisition unit is used to acquire the target distance measured by the laser ranging module. The second transmission unit is used to transmit the target distance measured by the laser ranging module from the laser side to the visual side by performing coordinate transformation between the visual measurement coordinate system and the laser measurement coordinate system.

[0008] On the other hand, a measurement system is provided, including: a measurement device, a monocular vision camera and a laser ranging module, wherein the monocular vision camera and the laser ranging module share the same cooperative target array; The monocular vision camera is used to measure the target and obtain the target pointing angle; The laser ranging module is used to measure the distance to the target; The measuring device is used to acquire the target pointing angle measured by a monocular vision camera; to calculate the target's position vector in the visual measurement coordinate system using the target pointing angle measured by the monocular vision camera; to calculate the target's position vector in the laser measurement coordinate system using the target's position vector in the visual measurement coordinate system, so as to realize the transfer of the target pointing angle from the visual side to the laser measurement, so that the laser ranging module can complete the target distance measurement based on the transferred target pointing angle; to acquire the target distance measured by the laser ranging module, and to realize the transfer of the target distance measured by the laser ranging module from the laser side to the visual side according to the coordinate transformation between the visual measurement coordinate system and the laser measurement coordinate system.

[0009] On the other hand, a computer device is provided, the computer device including a memory and a processor, the memory for storing computer programs, and the processor for executing the computer programs stored in the memory to realize the steps of the information transmission and fusion method of the above-described orbital space multimodal photoelectric relative measurement system.

[0010] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when the computer program is executed by a processor, the steps of the information transmission and fusion method of the above-described orbital space multimodal photoelectric relative measurement system are implemented.

[0011] On the other hand, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the information transmission and fusion method of the above-described orbital space multimodal photoelectric relative measurement system.

[0012] The technical solution provided by this invention can bring at least the following beneficial effects: Since a monocular vision camera can accurately measure the pitch and azimuth angles of a target, and a laser ranging module can accurately measure the target distance, in this embodiment of the invention, the monocular vision camera first measures the target pointing angle, then uses the target pointing angle to calculate the target's position vector in the visual measurement coordinate system, and then uses the target's position vector in the visual measurement coordinate system to calculate the target's position vector in the laser measurement coordinate system. This allows the target pointing angle to be transferred from the visual side to the laser ranging module, enabling the laser ranging module to perform highly accurate target distance measurement based on the transferred target pointing angle. To transfer the highly accurate target distance measured by the visual ranging module to the visual side, coordinate transformation between the visual and laser measurement coordinate systems can be used to transfer the target distance. At this point, highly accurate target pitch and azimuth angles, as well as the target distance, can exist simultaneously on the visual side. Thus, highly accurate transfer of target distance information between the two measurement references is achieved. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a flowchart of an information transmission and fusion method for a multimodal photoelectric relative measurement system in orbital space, provided by an embodiment of the present invention. Figure 2 This is a schematic diagram of a measurement system provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of a scanning array provided in an embodiment of the present invention; Figure 4 This is a structural diagram of an information transmission and fusion device for a multimodal photoelectric relative measurement system in orbital space, provided in an embodiment of the present invention. Figure 5 This is a hardware architecture diagram of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0016] Please refer to Figure 1 This invention provides an information transmission and fusion method for a multimodal photoelectric relative measurement system in orbital space, implemented by a measurement device within the system. The system further includes a monocular vision camera and a laser ranging module, which share the same cooperative target array. The method includes: Step 100: Obtain the target pointing angle measured using a monocular vision camera; Step 102: Calculate the target's position vector in the visual measurement coordinate system using the target pointing angle measured by the monocular vision camera; Step 104: Calculate the target's position vector in the laser measurement coordinate system using the target's position vector in the visual measurement coordinate system, so as to realize the target pointing angle is transmitted from the visual side to the laser measurement, so that the laser ranging module can complete the target distance measurement based on the transmitted target pointing angle. Step 106: Obtain the target distance measured by the laser ranging module, and transfer the target distance measured by the laser ranging module from the laser side to the visual side by performing coordinate transformation between the visual measurement coordinate system and the laser measurement coordinate system.

[0017] In this embodiment of the invention, since the monocular vision camera can accurately measure the pitch and azimuth angles of the target, and the laser ranging module can accurately measure the target distance, the monocular vision camera first measures the target pointing angle, then calculates the target's position vector in the visual measurement coordinate system using the target pointing angle, and then calculates the target's position vector in the laser measurement coordinate system using the target's position vector in the visual measurement coordinate system. This allows the target pointing angle to be transferred from the visual side to the laser ranging module, enabling the laser ranging module to perform highly accurate target distance measurement based on the transferred target pointing angle. To transfer the highly accurate target distance measured by the visual ranging module to the visual side, coordinate transformation between the visual and laser measurement coordinate systems can be used to transfer the target distance. At this point, highly accurate target pitch and azimuth angles, as well as the target distance, can exist simultaneously on the visual side. Thus, highly accurate transfer of target distance information between the two measurement references is achieved.

[0018] The following describes Figure 1 Before explaining how each step is performed, the measurement system of this embodiment of the invention will be described.

[0019] The measurement system includes a measuring device, a monocular vision camera, and a laser ranging module. The measuring device is used to implement the information transmission and fusion method of this embodiment. The monocular vision camera and the laser ranging module share the same cooperative target array. The monocular vision camera is equipped with an illumination source. The cooperative target array includes at least three cornerstone prisms forming a three-dimensional configuration. Each cornerstone prism has high reflectivity in both the illumination band of the illumination source and the operating band of the laser ranging module.

[0020] Please refer to Figure 2 This is a schematic diagram of the measurement system. In this diagram, the cooperative target array consists of n targets. Figure 2 Middle coordinate system O T - X T Y T Z T Indicates the coordinate system. O C - X C Y C Z C This represents the intrinsic coordinate system of the monocular vision camera, referred to in this embodiment as the vision measurement coordinate system, with the origin at... O C As the optical center of the camera's optical system, O L - X L Y L Z L The intrinsic coordinate system of the laser ranging module is referred to as the laser measurement coordinate system in this embodiment. The rotation matrix and translation vector between the coordinate systems are defined as shown in Table 1 below.

[0021] Table 1: in and It can be obtained through external calibration methods. and This is to be measured.

[0022] As can be seen, the embodiments of the present invention are based on the measurement system in the patent with patent publication number CN119575403A and invention title "A High-Precision Relative Pose Measurement Method and Device for a Common Target Laser Vision," realizing the information transmission and fusion of high-precision measurement results between a monocular vision camera and a laser ranging module. The working process of the measurement system is as follows: the monocular vision camera images the target, records the image point coordinates of the target, and simultaneously calculates the target pointing angle, transmitting it to the laser ranging module as guidance information; the laser ranging module measures the distance to the target and transmits the measured target distance to the monocular vision camera to achieve data fusion. and Solve the problem.

[0023] First, steps 100 to 104 will be explained simultaneously.

[0024] In this embodiment of the invention, the position vectors of the i-th target (i takes values ​​of 1, 2, ..., n, where n is an integer not less than 3) in the target array in the target coordinate system, the visual measurement coordinate system, and the laser measurement coordinate system are respectively... , and It can be expressed by the following first formula, second formula, and third formula: Where H represents the transpose of a matrix or vector, and D represents the length of the position vector. Indicates pitch angle, Indicates the azimuth angle.

[0025] In this embodiment of the invention, the step of calculating the target's position vector in the visual measurement coordinate system using the target pointing angle measured by a monocular vision camera may specifically include: Using the target pitch and azimuth angles measured by a monocular vision camera, the target relative pose equation is established to solve for the rotation matrix from the target coordinate system to the vision measurement coordinate system and the translation vector from the vision measurement coordinate system to the target coordinate system. The position vector of the target in the visual measurement coordinate system is calculated using the position vector of the target in the target coordinate system, the rotation matrix from the target coordinate system to the visual measurement coordinate system, and the translation vector from the visual measurement coordinate system to the target coordinate system.

[0026] A monocular vision camera can obtain the pitch angle of the i-th target by imaging it. and azimuth Then, by establishing the target relative pose equation, the result can be obtained using the monocular vision PNP relative pose measurement method. and Because the measurement results from a monocular vision camera lack positional constraint information regarding the line-of-sight direction, the obtained solution... The Z-component measurement error is relatively large.

[0027] because Since these are known quantities, we can use the solutions obtained... and The position vector of the i-th target in the visual measurement coordinate system can be calculated using the following fourth formula. : Furthermore, to make the target pointing angle transmitted to the laser measurement more accurate, after calculating the target's position vector in the visual measurement coordinate system using the fourth formula, it can also include: The target's position vector in the visual measurement coordinate system is updated using the distance information of the target's position vector obtained in the current visual measurement coordinate system, as well as the target's pitch and azimuth angles measured by the monocular vision camera.

[0028] Specifically, the update of the position vector is accomplished through the following fifth formula: At this point, the updated position vector is more accurate than the original position vector.

[0029] In this embodiment of the invention, the position vector of the target in the visual measurement coordinate system is obtained. Then, the coordinate system between the visual measurement coordinate system and the laser measurement coordinate system can be utilized. and The calibration results are used to determine the position vector of the i-th target in the laser measurement coordinate system. The calculation is performed using the following formula, number six: Thus, after obtaining the target's position vector in the laser measurement coordinate system, the target pointing angle is transferred from the visual side to the laser measurement.

[0030] Next, we will explain step 106.

[0031] After obtaining the target's position vector in the laser measurement coordinate system, the visual ranging module can calculate the target's pitch angle in the laser measurement coordinate system. and azimuth This allows for distance measurement by using the elevation and azimuth angles of the target in the laser measurement coordinate system to point at the target.

[0032] Because the resulting pitch and azimuth angles still contain errors (this is because the transmitted pointing angles are not the most accurate; only the pitch and azimuth angles measured by a monocular vision camera are the most accurate, but there are errors in the Z-distance component), the laser cannot accurately point to the target based on these angles when the errors are large. In this embodiment of the invention, the currently calculated pitch and azimuth angles can be used as a center point, and the laser can be controlled to scan a specified range around this center point to expand the laser measurement field of view and align with the target.

[0033] In one implementation, the scanning method can employ an N×N step array scanning, with the scanning array and trajectory for different values ​​of N as shown below. Figure 3 As shown. It should be noted that, Figure 3 This is only one implementation of the scanning array and the travel trajectory. Other arrays or travel trajectories are also possible, and the embodiments of the present invention do not limit this.

[0034] When the laser from the laser ranging module is pointed at the target, a high-precision measurement result of the target distance can be obtained. The result needs to be transferred to the monocular vision camera coordinate system for final data fusion and calculation.

[0035] Specifically, the following seventh formula can be used to achieve coordinate transformation between the visual measurement coordinate system and the laser measurement coordinate system, thereby transferring the target distance: in, Let be the length of the position vector of the i-th target in the laser measurement coordinate system. This is the rotation matrix from the visual measurement coordinate system to the laser measurement coordinate system. Let be the length of the position vector of the i-th target in the visual measurement coordinate system. This is the translation vector from the laser measurement coordinate system to the vision measurement coordinate system. Let be the pitch angle of the i-th target in the visual measurement coordinate system. Let be the azimuth angle of the i-th target in the visual measurement coordinate system; H is used to characterize the transpose.

[0036] The seventh formula above was obtained in the following way: Transpose both sides of the equal sign in the sixth equation to obtain the eighth equation: Multiply the left side of the sixth and eighth formulas by the same amount, and then multiply the right side of the same amount. Substitute the position vector of the i-th target in the visual measurement coordinate system into the multiplied formula to obtain the seventh formula.

[0037] In the seventh formula, the target distance in the laser measurement coordinate system The pitch angle of the target pointing in the visual measurement coordinate system and azimuth High-precision measurement results have been obtained for all of them, and there is only one unknown in this seventh formula. (The length of the position vector of the i-th target in the visual measurement coordinate system). Therefore, the length of the position vector in the visual measurement camera coordinate system can be solved by the seventh formula, which is to say, the target distance can be solved, thus completing the high-precision transmission of target distance information between two measurement references.

[0038] Please refer to Figure 4 This invention provides an information transmission and fusion device for a multimodal photoelectric relative measurement system in orbital space, located within the measurement system. The measurement system further includes a monocular vision camera and a laser ranging module, which share the same cooperative target array. The device includes: The first acquisition unit 400 is used to acquire the target pointing angle measured by a monocular vision camera. The calculation unit 402 is used to calculate the position vector of the target in the visual measurement coordinate system using the target pointing angle measured by the monocular vision camera. The first transmission unit 404 is used to calculate the position vector of the target in the laser measurement coordinate system using the position vector of the target in the visual measurement coordinate system, so as to realize the target pointing angle from the visual side to the laser measurement, so that the laser ranging module can complete the target distance measurement based on the transmitted target pointing angle. The second acquisition unit 406 is used to acquire the target distance measured by the laser ranging module. The second transmission unit 408 is used to transmit the target distance measured by the laser ranging module from the laser side to the visual side by performing coordinate transformation between the visual measurement coordinate system and the laser measurement coordinate system.

[0039] In one embodiment of the present invention, the step of calculating the target's position vector in the visual measurement coordinate system using the target pointing angle measured by a monocular vision camera includes: establishing a target relative pose equation using the target pitch angle and azimuth angle measured by the monocular vision camera to solve for the rotation matrix from the target coordinate system to the visual measurement coordinate system and the translation vector from the visual measurement coordinate system to the target coordinate system; and calculating the target's position vector in the visual measurement coordinate system using the target's position vector in the target coordinate system, the rotation matrix from the target coordinate system to the visual measurement coordinate system, and the translation vector from the visual measurement coordinate system to the target coordinate system.

[0040] In one embodiment of the present invention, after calculating the position vector of the target in the visual measurement coordinate system, the method further includes: updating the position vector of the target in the visual measurement coordinate system using the distance information of the currently obtained position vector of the target in the visual measurement coordinate system, and the target pitch angle and azimuth angle measured by the monocular vision camera.

[0041] In one embodiment of the present invention, when the laser ranging module measures the distance to the target based on the transmitted target pointing angle, it is used to calculate the pitch angle and azimuth angle of the target in the laser measurement coordinate system using the transmitted target pointing angle, and uses the currently calculated pitch angle and azimuth angle as the center point, and controls the laser to perform a specified range scan around the angle of the center point to expand the laser measurement field of view in order to align with the target.

[0042] In one embodiment of the present invention, the step of transferring the target distance measured by the laser ranging module from the laser side to the visual side based on the coordinate transformation between the visual measurement coordinate system and the laser measurement coordinate system includes: The following formula is used to calculate the length of the target's position vector in the visual measurement coordinate system, so as to transfer the target distance measured by the laser ranging module from the laser side to the visual side: in, Let be the length of the position vector of the i-th target in the laser measurement coordinate system. This is the rotation matrix from the visual measurement coordinate system to the laser measurement coordinate system. Let be the length of the position vector of the i-th target in the visual measurement coordinate system. This is the translation vector from the laser measurement coordinate system to the vision measurement coordinate system. Let be the pitch angle of the i-th target in the visual measurement coordinate system. Let be the azimuth angle of the i-th target in the visual measurement coordinate system; H is used to characterize the transpose.

[0043] It should be noted that the information transmission and fusion device for the multimodal photoelectric relative measurement system in orbital space provided in the above embodiments is only an example of the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the information transmission and fusion device for the multimodal photoelectric relative measurement system in orbital space provided in the above embodiments and the information transmission and fusion method embodiments for the multimodal photoelectric relative measurement system in orbital space belong to the same concept. The specific implementation process is detailed in the method embodiments and will not be repeated here.

[0044] Based on the same inventive concept as the information transmission and fusion method of the above-mentioned orbital space multimodal photoelectric relative measurement system, this embodiment of the invention provides a measurement system, including: a measurement device, a monocular vision camera and a laser ranging module, wherein the monocular vision camera and the laser ranging module share the same cooperative target array; The monocular vision camera is used to measure the target and obtain the target pointing angle; The laser ranging module is used to measure the distance to the target; The measuring device is used to acquire the target pointing angle measured by a monocular vision camera; to calculate the target's position vector in the visual measurement coordinate system using the target pointing angle measured by the monocular vision camera; to calculate the target's position vector in the laser measurement coordinate system using the target's position vector in the visual measurement coordinate system, so as to realize the transfer of the target pointing angle from the visual side to the laser measurement, so that the laser ranging module can complete the target distance measurement based on the transferred target pointing angle; to acquire the target distance measured by the laser ranging module, and to realize the transfer of the target distance measured by the laser ranging module from the laser side to the visual side according to the coordinate transformation between the visual measurement coordinate system and the laser measurement coordinate system.

[0045] Embodiments of this application also provide a computer device, please refer to... Figure 5 The computer device includes a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, at least one program, code set or instruction set being loaded and executed by the processor to implement the information transmission and fusion method of the orbital space multimodal photoelectric relative measurement system provided in the above method embodiments.

[0046] Embodiments of this application also provide a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the information transmission and fusion method of the orbital space multimodal photoelectric relative measurement system provided in the above-described method embodiments.

[0047] Embodiments of this application also provide a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium and executes the computer program, causing the computer device to perform the information transmission and fusion method of the orbital space multimodal photoelectric relative measurement system described in any of the above embodiments.

[0048] For ease of description, the above systems or devices are described separately as various modules or units based on their functions. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware components.

[0049] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0050] Finally, it should be noted that in this document, relational terms such as first, second, third, and fourth are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0051] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. An information transmission and fusion method of a track space multi-modal optoelectronic relative measurement system, characterized in that, The measurement is implemented by a measuring device in a measurement system, which also includes a monocular vision camera and a laser ranging module, wherein the monocular vision camera and the laser ranging module share the same cooperative target array; the method includes: Obtain the target pointing angle measured using a monocular vision camera; The target's pointing angle, measured by a monocular vision camera, is used to calculate the target's position vector in the visual measurement coordinate system. The position vector of the target in the laser measurement coordinate system is calculated by using the position vector of the target in the visual measurement coordinate system, so as to realize the target pointing angle from the visual side to the laser measurement, so that the laser ranging module can complete the target distance measurement based on the transmitted target pointing angle; The target distance measured by the laser ranging module is obtained, and the target distance measured by the laser ranging module is transferred from the laser side to the visual side by performing coordinate transformation between the visual measurement coordinate system and the laser measurement coordinate system.

2. The method of claim 1, wherein, The calculation of the target's position vector in the visual measurement coordinate system using the target pointing angle measured by a monocular vision camera includes: Using the target pitch and azimuth angles measured by a monocular vision camera, the target relative pose equation is established to solve for the rotation matrix from the target coordinate system to the vision measurement coordinate system and the translation vector from the vision measurement coordinate system to the target coordinate system. The position vector of the target in the visual measurement coordinate system is calculated using the position vector of the target in the target coordinate system, the rotation matrix from the target coordinate system to the visual measurement coordinate system, and the translation vector from the visual measurement coordinate system to the target coordinate system.

3. The method of claim 2, wherein, After calculating the target's position vector in the visual measurement coordinate system, the method further includes: The target's position vector in the visual measurement coordinate system is updated using the distance information of the target's position vector obtained in the current visual measurement coordinate system, as well as the target's pitch and azimuth angles measured by the monocular vision camera.

4. The method of claim 1, wherein, When measuring the distance to a target based on the transmitted target pointing angle, the laser ranging module uses the transmitted target pointing angle to calculate the pitch and azimuth angles of the target in the laser measurement coordinate system. It then uses the currently calculated pitch and azimuth angles as the center point and controls the laser to scan a specified range around the angle of this center point to expand the laser measurement field of view in order to align with the target.

5. The method of claim 1, wherein, The step of transferring the target distance measured by the laser ranging module from the laser side to the visual side based on the coordinate transformation between the visual measurement coordinate system and the laser measurement coordinate system includes: The following formula is used to calculate the length of the target's position vector in the visual measurement coordinate system, so as to transfer the target distance measured by the laser ranging module from the laser side to the visual side: in, Let be the length of the position vector of the i-th target in the laser measurement coordinate system. This is the rotation matrix from the visual measurement coordinate system to the laser measurement coordinate system. Let be the length of the position vector of the i-th target in the visual measurement coordinate system. This is the translation vector from the laser measurement coordinate system to the vision measurement coordinate system. Let be the pitch angle of the i-th target in the visual measurement coordinate system. Let be the azimuth angle of the i-th target in the visual measurement coordinate system; H is used to characterize the transpose.

6. An information transmission and fusion device of a track space multi-modal optoelectronic relative measurement system, characterized in that, Located within the measurement system, the measurement system further includes a monocular vision camera and a laser ranging module, the monocular vision camera and the laser ranging module sharing the same cooperative target array; the device includes: The first acquisition unit is used to acquire the target pointing angle measured by a monocular vision camera; The calculation unit is used to calculate the position vector of the target in the visual measurement coordinate system using the target pointing angle measured by the monocular vision camera. The first transmission unit is used to calculate the position vector of the target in the laser measurement coordinate system using the position vector of the target in the visual measurement coordinate system, so as to realize the target pointing angle from the visual side to the laser measurement, so that the laser ranging module can complete the target distance measurement based on the transmitted target pointing angle. The second acquisition unit is used to acquire the target distance measured by the laser ranging module. The second transmission unit is used to transmit the target distance measured by the laser ranging module from the laser side to the visual side by performing coordinate transformation between the visual measurement coordinate system and the laser measurement coordinate system.

7. A measurement system characterized by, include: The device includes a measuring device, a monocular vision camera, and a laser ranging module, wherein the monocular vision camera and the laser ranging module share the same cooperative target array. The monocular vision camera is used to measure the target and obtain the target pointing angle; The laser ranging module is used to measure the distance to the target; The measuring device is used to acquire the target pointing angle measured by a monocular vision camera; and to calculate the position vector of the target in the visual measurement coordinate system using the target pointing angle measured by the monocular vision camera. The target's position vector in the laser measurement coordinate system is calculated using the target's position vector in the visual measurement coordinate system. This allows the target pointing angle to be transferred from the visual side to the laser measurement system, enabling the laser ranging module to measure the target distance based on the transferred target pointing angle. The target distance measured by the laser ranging module is then obtained, and coordinate transformation between the visual and laser measurement coordinate systems is performed to transfer the target distance measured by the laser ranging module from the laser side to the visual side.

8. A computer device, comprising: The computer device includes a memory and a processor. The memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory to implement the steps of the method according to any one of claims 1-5.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the steps of the method described in any one of claims 1-5.

10. A computer program product, characterised in that, Includes a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1-5.

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