航天器对接相对位置姿态自主测量方法研究

航天器间相对位置姿态的准确测量是实现自主自动对接的先决条件。将三圆标志靶安装在目标航天器上;追踪航天器用数码相机对靶拍照。设计了亚像素处理方法实时处理数字照片,可精确测定圆心像点位置和特征直径的像长;用其作为基本特征参数,基于透视投影原理,建立了求圆心物空间坐标的公式,求出靶面的平面方程,可用来求两航天器间的相对位置姿态参数和实时标定相机的可变参数。计算机仿真结果表明,测距为2m时,测圆心像点位置的误差小于0.03个像素,测距误差小于1mm,测姿态角的误差小于0.01°。该方法也适用于无人直升飞机定点着陆时自主测量其相对位姿参数。

Relative position-and-attitude self-measuring for spacecrafts docking

At the last-phase of spacecrafts-docking,the spacecraft must be able to self-measuring the relative position-and-attitude against another.A three-circles-target is fixed onto the object-spacecraft,and then pictures of the target are taken with a digital-camera,which is fixed onto the tracking-spacecraft.According to the character-parameters of this target image,a kind of the algorithm is designed,based on perspective-projection-principle,to calculate the circular-center's position and plane formula of the t...