非接触目标相对姿态测量方法研究
|
摘要
针对空间中非接触目标相对位置、姿态角测量问题,采用双目摄像机、电控角位移台和电控旋转台建立物体相对姿态测量系统;提出了一种利用双目视觉结合物体自身特点以及刚体运动学原理,通过Harris算子提取物体特征角点进行相对位姿解算;将卫星模型作为实验对象,运动过程中进行了非接触目标相对姿态测量方法的验证试验,实验结果表明姿态角测量误差小于±0.56°,证明了算法的有效性。
Aiming at the relative position and attitude angle measurement of non-contact targets in space,a binocular camera,a high precision motorized goniometer and a precision motorized rotation stage are used to establish an object relative attitude measurement system.A method of binocular vision combined with own characteristics and the rigid body kinematics of an object is proposed.The Harris operator is used to extract the feature corner points of the object for relative pose calculation.In order to validate the method,the non-contact target attitude measurement experiment aimed at the satellite model was carried into execution.The experimental result indicated that the error of attitude measurement was less than ±0.56°,and the method was proved to be effective.
Aiming at the relative position and attitude angle measurement of non-contact targets in space,a binocular camera,a high precision motorized goniometer and a precision motorized rotation stage are used to establish an object relative attitude measurement system.A method of binocular vision combined with own characteristics and the rigid body kinematics of an object is proposed.The Harris operator is used to extract the feature corner points of the object for relative pose calculation.In order to validate the method,the non-contact target attitude measurement experiment aimed at the satellite model was carried into execution.The experimental result indicated that the error of attitude measurement was less than ±0.56°,and the method was proved to be effective.
引文
[1]李晶.基于多点合作目标的多线阵CCD空间物体姿态测量的研究[D].哈尔滨:哈尔滨工业大学,2012.
[2]牛皓.基于单目视觉的非合作目标姿态测量研究[D].哈尔滨:哈尔滨工业大学,2014.
[3]孙宁,乔彦峰,林维才.Non-contact 3-D position measurement system[J].光学精密工程,2002,10(5):533-536.
[4]Mukundan R,Ramakrishnan K R.A quaternion solution to the pose determination problem for rendezvous and docking simulations[J].Mathematics&Computers in Simulation,1995,39(1):143-153.
[5]Philip N K,Ananthasayanam M R.Relative position and attitude estimation and control schemes for the final phase of an autonomous docking mission of spacecraft[J].Acta Astronautica,2003,52(7):511-522.
[6]姚荣斌,丁尚文,李生权,等.基于三目视觉的航天器交会对接位姿测量方法研究[J].空间科学学报,2011,31(4):527-533.
[7]孙长库,徐怀远,张宝尚,等.基于IMU与单目视觉融合的姿态测量方法[J].天津大学学报(自然科学与工程技术版),2017,50(3):313-320.
[8]孙增玉,高越.基于视觉技术的非合作航天器相对位姿测量方法[J].宇航计测技术,2017,37(4):1-6.
[9]游江,唐力伟,邓士杰.机器视觉空间目标姿态自动测量方法研究[J].中国测试,2016,42(11):107-112.
[10]孙增玉,梁雅军,刘柯,等.基于视觉原理的运动物体空间姿态测量技术研究[J].宇航计测技术,2014(4):1-5.
[11]李克国,李大运,陶学恒.一种双目立体视觉技术中三维坐标点的改进求取算法[J].机电产品开发与创新,2008,21(5):31-32.
[12]康喜若,姚东星.基于双目视觉的相对物体的姿态测量[J].导弹与航天运载技术,2014(1):82-86.
[13]肖鹏,王金龙,周志峰.物流纸箱三维尺寸测量系统的研究[J].化工自动化及仪表,2017(12):1155-1158.
[14]王向军,王研,李智.基于特征角点的目标跟踪和快速识别算法研究[J].光学学报,2007,27(2):360-364.
[15]胡宝洁,曾峦,熊伟,等.基于立体视觉的目标姿态测量技术[J].计算机测量与控制,2007,15(1):27-28.
[16]王志超.非合作航天器视觉位姿测量方法的研究[D].哈尔滨:哈尔滨工业大学,2013.
[17]李鹏飞,田瑜,张蕾,等.双目视觉运动目标跟踪定位系统的设计[J].测控技术,2018(4).
[18]杨幸芳,黄玉美,李艳,等.一种基于USAN的特征点检测算法[J].机械科学与技术,2011,30(7):1120-1123.
[2]牛皓.基于单目视觉的非合作目标姿态测量研究[D].哈尔滨:哈尔滨工业大学,2014.
[3]孙宁,乔彦峰,林维才.Non-contact 3-D position measurement system[J].光学精密工程,2002,10(5):533-536.
[4]Mukundan R,Ramakrishnan K R.A quaternion solution to the pose determination problem for rendezvous and docking simulations[J].Mathematics&Computers in Simulation,1995,39(1):143-153.
[5]Philip N K,Ananthasayanam M R.Relative position and attitude estimation and control schemes for the final phase of an autonomous docking mission of spacecraft[J].Acta Astronautica,2003,52(7):511-522.
[6]姚荣斌,丁尚文,李生权,等.基于三目视觉的航天器交会对接位姿测量方法研究[J].空间科学学报,2011,31(4):527-533.
[7]孙长库,徐怀远,张宝尚,等.基于IMU与单目视觉融合的姿态测量方法[J].天津大学学报(自然科学与工程技术版),2017,50(3):313-320.
[8]孙增玉,高越.基于视觉技术的非合作航天器相对位姿测量方法[J].宇航计测技术,2017,37(4):1-6.
[9]游江,唐力伟,邓士杰.机器视觉空间目标姿态自动测量方法研究[J].中国测试,2016,42(11):107-112.
[10]孙增玉,梁雅军,刘柯,等.基于视觉原理的运动物体空间姿态测量技术研究[J].宇航计测技术,2014(4):1-5.
[11]李克国,李大运,陶学恒.一种双目立体视觉技术中三维坐标点的改进求取算法[J].机电产品开发与创新,2008,21(5):31-32.
[12]康喜若,姚东星.基于双目视觉的相对物体的姿态测量[J].导弹与航天运载技术,2014(1):82-86.
[13]肖鹏,王金龙,周志峰.物流纸箱三维尺寸测量系统的研究[J].化工自动化及仪表,2017(12):1155-1158.
[14]王向军,王研,李智.基于特征角点的目标跟踪和快速识别算法研究[J].光学学报,2007,27(2):360-364.
[15]胡宝洁,曾峦,熊伟,等.基于立体视觉的目标姿态测量技术[J].计算机测量与控制,2007,15(1):27-28.
[16]王志超.非合作航天器视觉位姿测量方法的研究[D].哈尔滨:哈尔滨工业大学,2013.
[17]李鹏飞,田瑜,张蕾,等.双目视觉运动目标跟踪定位系统的设计[J].测控技术,2018(4).
[18]杨幸芳,黄玉美,李艳,等.一种基于USAN的特征点检测算法[J].机械科学与技术,2011,30(7):1120-1123.