立体视觉系统的目标可见性及测量精度分析

立体视觉系统对目标的可见性及测量精度问题直接决定了基于立体视觉的飞行器相对导航的成败及导航精度。从立体视觉系统结构出发，对目标的可见性及测量精度问题进行了研究。分析了目标可见性及系统测量精度的影响因素|推导了相机参数、立体视觉系统结构参数及目标特征位置等因素对视觉盲区、有效视场宽度和目标可分辨性的约束公式|建立了以上各因素对立体视觉系统相对导航测量精度影响的模型公式,并进行了仿真分析。仿真结果可用于飞行器相对导航中立体视觉系统结构的优化设计。

Target visibility and measure precision analysis of stereo vision systems

The problem of target visibility and measure precision of stereo vision systems, which is a decisive factor to mission success or failure and navigation accuracy in spacecraft relative navigation, is studied. The factors affecting the visibility and precision are analyzed| the formulas of blind area, effective width of visual area, and target distinguishableness are calculated, which are restrained by camera parameters, configuration parameters of the stereo vision system and the position of the target| the formulas of measure precision affected by the factors are built and the emulation is carried out in relative navigation based on stereo vision. The results could be used in the optimization design of stereo vision configuration in aircraft relative navigation.