飞行器交会对接相对位置和姿态的估计方法

为了在交会对接时对飞行器相对于一个固定坐标系的位置和姿态进行估计,构造了一种光点配置单目CCD算法,它以计算机视觉系统采集的二维图像信息作为输入,将恢复得到的三维图像位置关系作为输出。给出了算法的构造思想和具体步骤。数字仿真结果表明,由于算法直接利用特征光点的几何配置条件,避免了传统算法在计算过程中出现畸变的问题,提高了姿态角估值的精度。

Estimation method of relative position and attitude in spacecraft rendezvous and docking

A single CCD light spot allocation algorithm is constructed for estimating the position and orientation of a spacecraft relative to a fixed coordinate in spacecraft rendezvous and docking. The two-dimension image information sampled by computer vision system is the input of the algorithm, and the relation of three-dimension image position restored by the algorithm is the output. The constructing idea and concrete steps of the algorithm are given. It is shown from the numerical simulation results that since the known allocation conditions of the characteristic light spots are used directly, the image distortion, which occurs in the computation process of the conventional algorithms is avoided, and the estimation precision of the attitude is improved.