飞行器交会对接相对位置和姿态的估值方法

Estimation Method of Relative Position and Attitude for Spacecraft Rendezvous and Docking

在飞行器的交会对接过程中 ,应用计算机视觉系统作为精确传感设备 ,测量飞行器相对于固定在空间站的坐标系的三维位置和方向 ,为导航和控制回路提供需要的反馈信息。文中研究了由计算机视觉系统采集的二维图像信息估计飞船相对于空间站的位置和姿态的方法 ;提出了光点检测光线拟合算法 ,并给出数字仿真结果。

In spacecraft rendezvous and docking, a computer vision system is used as an accurate sensing device for estimating the three dimensional position and orientation of the spacecraft relative to a coordinate system fixed on a space station, providing feedback information needed for guidance and control loops. In this paper, the methods of the two dimensional image information sampled by computer vision system are studied for estimating the position and attitude of the spacecraft relative to the space station. Algorithm of fitting measured light line with light point is proposed in this paper, and the digital simulation results are also presented.