中国空间科学技术

中国空间科学技术 ›› 2018, Vol. 38 ›› Issue (1): 77-83.doi: 10.16708/j.cnki.1000-758X.2018.0019

• 技术交流 • 上一篇    

一种非合作目标模型快速测量方法

孙秀清1，张笃周2，王立1,* ，吴奋陟1   

  1. 1. 北京控制工程研究所，北京  100190
    2. 中国空间技术研究院，北京  100094
  • 收稿日期:2016-12-28 接受日期:2018-02-02 出版日期:2018-02-25 发布日期:2020-02-12
  • 通讯作者: 王立(1979-),男,研究员,1320373982@qq.com,研究方向为双目视觉测量
  • 作者简介:孙秀清(1992-),女,硕士,sxqdeyouxiang@163.com,研究方向为三维测量
  • 基金资助:
    民用973项目“全天时全方位多形式安全交会对接精确控制理论与方法研究"(2013CB733100)

A rapid three-dimensional measurement method for non-cooperative target#br#

SUN Xiuqing1, ZHANG Duzhou2, WANG Li1,*, WU Fenzhi1   

  1. 1. Beijing Institute of Control Engineering, Beijing 100190, China
    2. China Academy of Space Technology, Beijing 100094, China
  • Received:2016-12-28 Accepted:2018-02-02 Published:2018-02-25 Online:2020-02-12

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摘要： 服务航天器跟踪、接近和捕获目标时,需要快速获取目标卫星局部模块的精密3D轮廓。文章研究了一种基于结构光的单目测量系统，能够同时满足三维测量速度快、精度高等需求。提出了一种黑白DeBruijn序列编码方法，使用单张相机图片就可以完成重建，采用黑白条纹，增强了对空间反射的抗干扰能力。相比较于双目测量方法，该方法认为投影装置模型和相机模型一致，省去了图像匹配步骤，有效减少了计算时间；采用迭代的方法对点云进行重建，不需要预先进行畸变校正。以卫星模型为目标，使用高速相机进行了重建试验，试验结果表明采用这种方法进行重建时，采集图像时间短,深度信息误差为0.0583mm，速度和精度都能满足非合作目标的三维测量要求。

关键词: 非合作目标, 结构光, 极线约束, DeBruijn序列, 三维测量

Abstract:

When the servicing spacecraft is tracking, approaching and capturing target satellites, it is necessary to quickly and precisely obtain 3-D profile of target satellites’ local modules. A monocular camera measurement system based on structured-light was discussed. The system was designed to meet the needs of high speed and high accuracy. A coding method of De Bruijn sequence using white and black was proposed, and the reconstruction could be finished by a single picture. Besides, black and white stripes were still adopted, which has strong ant-interference in space. Compared with the method based on binocular vision, the projector’s physical model was the same as the camera, so the projector was served as a camera model according to this method. Without the matching of detected points in cameras and projectors in binocular stereo vision, the computing time was reduced. Three-dimensional points by iterative approach were reconstructed, with no need for advance distortion correction for pictures to use. Taking the satellite model as the target, reconstruction experiment was carried out using a high-speed camera. The experiment results indicate that the image acquisition time could reduce, and the depth information error is 0.0583 mm in reconstruction by this method. It can be used to measure the three-dimensional structure of non-cooperative spacecraft rapidly.

Key words:

non-cooperative target, structured-light, epipolar-slope constraint, De Bruijn sequence, three-dimensional measurement