面向空间机械臂遥操作的虚拟相机成像技术

Imaging of virtual camera for space manipulator teleoperation

对于采用虚拟图形预测仿真克服天地不确定大时延的地面遥操作,为使任务专家准确监视、预测并遥控空间机械臂的运动,本文研究了Open Inventor软件开发包中虚拟相机的成像技术。分析了真实相机与虚拟相机的成像原理,推导了虚拟相机的透视投影和视口变换矩阵。依据二者的成像原理,对真实相机和虚拟相机的成像进行了一致性分析,并展开定量及定性验证。研究表明:基于Open Inventor开发包搭建的中国空间站及空间机械臂的仿真系统,可对空间机械臂的末端及肘部相机进行虚拟成像并准确模拟真实成像,为空间机械臂通过地面遥操作安全精准地完成在轨任务奠定了基础。

This study investigates the imaging technology of the virtual camera in the Open Inventor to enable mission experts to accurately monitor,predict,and teleoperate the motion of the space manipulator,with a focus on ground teleoperation with virtual graphic prediction simulation to overcome the long uncertain space-ground time delay.The imaging principles of the actual and virtual cameras are analyzed,and the virtual camera's perspective projection and viewport matrices are derived.Moreover,imaging consistency analysis and quantitative and qualitative verifications are conducted based on the imaging principles of the actual and virtual cameras.The research shows that the simulation system of the China Space Station and the space manipulator based on Open Inventor can conduct virtual imaging and accurately simulate actual imaging for the end and elbow cameras of the space manipulator,which lays a foundation for the space manipulator to perform on-orbit missions safely and accurately through ground teleoperation.