整流罩分离过程中运动位姿测量技术研究

Research on Movement Pose Measurement Technology in the Process of Fairing Separation

针对整流罩分离过程中的空间目标三维位姿跟踪测量,设计了双目视觉测量系统,完成整流罩关键点的空间三维坐标测量。基于各特征点的图像处理、识别及跟踪测量算法,结合极线约束匹配,实现目标点的精确立体匹配,可完成不同目标特征点的三维空间坐标解算,进而获取不同运动姿态时的速度、加速度等关键信息,为整流罩机械设计与动力学设计提供参考依据。

From the research on the three-dimensional pose tracking measurement of the space target during the separation process of the fairing,a binocular vision system is designed to complete the three-dimensional coordinate measurement of the key points of the fairing.Based on the image processing,recognition and tracking algorithms of each feature point combined with epipolar constraint matching,the precise stereo matching of target points can be realized,and the three-dimensional coordinate calculation of different target feature points can be completed,and the key information such as speed and acceleration of different moving positions can be obtained.The algorithms can provide necessary reference for the mechanical design and dynamics design of the fairing.