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基于共面光标提取的空间目标单目测量技术
引用本文:翟光,张景瑞,张尧.基于共面光标提取的空间目标单目测量技术[J].北京理工大学学报,2013,33(10):1015-1020.
作者姓名:翟光  张景瑞  张尧
作者单位:北京理工大学宇航学院,北京 100081;飞行器动力学与控制教育部重点实验室,北京 100081;北京理工大学宇航学院,北京,100081
基金项目:国家自然科学基金资助项目(1102018)
摘    要:针对空间目标捕获任务技术需求,设计了一种基于平面靶标特征点提取的单目视觉线性相对位姿解算方法. 提出基于几何指数阈值判别的特征光标提取方法,并采用非线性项变量代换方法,设计了基于特征光标提取的线性相对位姿解算方法,建立了单目视觉相对测量地面实验系统,在模拟目标航天器相对位置和姿态低速动态漂移的条件下进行了试验. 测量结果表明,所提出的特征光标提取算法能够有效避免高亮光斑对特征光标提取的不利影响,且相对位姿解算算法具有较好的精度和实时性,相对于传统非线性迭代求解方法,该方法计算量小,求解过程稳定. 

关 键 词:共面光标  单目视觉  光斑干扰
收稿时间:2012/4/11 0:00:00

Linear-Monocular Vision Based on Coplanar Feature Points for Space Target Relative Determination
ZHAI Guang,ZHANG Jing-rui and ZHANG Yao.Linear-Monocular Vision Based on Coplanar Feature Points for Space Target Relative Determination[J].Journal of Beijing Institute of Technology(Natural Science Edition),2013,33(10):1015-1020.
Authors:ZHAI Guang  ZHANG Jing-rui and ZHANG Yao
Affiliation:1.School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China;Key Laboratory of Dynamics and Control of Flight Vehicle, Ministry of Education, Beijing 100081, China2.School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China
Abstract:A linear monocular vision determination method is proposed based on feature point extraction for orbit target capture. With a consideration of the interference from the highlight facula, the feature point extraction method based on geometry index threshold is designed, and the influence from highlight facula posed on the extraction is obviously suppressed. After that, the relative pose and position determination algorithm is developed based on nonlinear terms transformation. Compared with the nonlinear propagation method, the proposed method can work stably with low computation load. Finally the ground-based monocular vision system is established, and he vision determination experiments are carried out when target is floating slowly. The accuracy and real time performance of the vision determination method are illustrated by simulation results.
Keywords:coplanar feature points  monocular vision  facula interference
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