摘要
本文基于三维计算机视觉技术提出了估计对接过程中相对运动参数的一种新方法。根据安装在追踪航天器上的双目视觉系统,建立了两航天器之间的相对运动数学模型,并采用最小二乘法及约束优化方法获得了两航天器相对位置和姿态参数。该方法无论在图像特征点检测,还是在进一步进行动态体视分析方面,都优于文献[1]。仿真结果表明这种方法是可行的。
In this peper, based on the three--dimensional computer vision. We developed a
new method for estimating the relative motion parametar in spacecraft docking processes. Us-
ing the binocular camera system mounted on the chaser vehicle. We set up a mathematical mod-
el describing the two spacecrafts relative motion and obtained the relative position and attitude
using the principles of least squares and constrained optimization approach. This method has
advantage in image characteristic points detection and dynamic stereo--vision analysis com-
pared with the approach given in reference [1]. Computer simulations have verified the
pratical feasibitity of the autonomous measurement approach proposed in this paper.
出处
《航天控制》
CSCD
北大核心
1993年第1期57-63,共7页
Aerospace Control
基金
国家教委博士点基金
关键词
航天器
制导
会合
对接
Spacecraft guidance
Rendezvous
Docking
