一种基于目标特征的航天器间相对姿态测量方法

A Measure Method of Relative Position and Attitude Between Spacecrafts Based on Target Feature

提出了一种基于目标特征的航天器间相对位置和相对姿态单目视觉测量方法.该方法利用目标特征点在物体坐标系中的空间坐标及其在像平面上成像点的图像坐标,根据透视成像理论,采用针孔模型解算出目标航天器与图像传感器的相对状态.提出了一种新的目标靶特征点构型设计方法,该方法适用于较大偏转姿态角的应用环境.仿真结果表明:新的特征点构型适应性好,能提高测量方法精度.该测量方法可直接用于航天器编队飞行及空间站交会对接过程中的相对姿态测量.

The paper poses a measure method of relative position and attitude between spacecrafts based on monocular computer vision and feature points on the target. The method proposed in the paper calculates the relative position and attitude using known geometry information of target feature points in object frame and their image points' coordinates in image plane based on perspective theory. A new design of target points construction which adapts to some bigger attitude deflexion angels is presented. The adaptability and the increase of the accuracy have been verified by the measurement result of the method generated from simulated data. This measurement method can be used not only for formation flying but also for rendezvous and docking of spacecrafts.