交会对接航天器间相对位姿参数单目视觉测量的解析算法

利用四个非共面设置的特征光标和单个CCD相机,采用单位四元素来描述航天器相对姿态,基于比例正交投影近似假设,建立目标航天器已知特征光标物理坐标和对应图像点图像坐标之间的简化数学模型,以解析的形式给出了航天器间相对位姿参数(相对位置和姿态),并对解析解进行修正。对该算法进行数学仿真,仿真结果表明,算法简单可靠,能够满足航天器确定精度和实时计算的要求。

Closed-form method for relative attitude and position parameters of RVD spacecrafts based monocular vision

Using four non-coplanar reference points and a CCD camera, the simplified mathematical framework of relations between actual coordinates on the target spacecraft and measured image coordinates is developed by representing the relative parameters using unit quaternion. Under the assumption of scaled orthographic projection, the closed-form solution of the relative poses vision-based determination problem is derived, and correct terms are added to the solution to obtain more accurate estimates for the pose parameters. The solution is validated using mathematical simulation. The simulation results show that this solution is simple and effective. The proposed solution is more suitable in on-board real-time computation.