中国空间科学技术

›› 2012, Vol. 32 ›› Issue (4): 37-44.doi: 10.3780/j.issn.1000-758X.2012.04.006

• 技术交流 • 上一篇    下一篇

基于双焦单目视觉的航天器间相对位姿确定算法

冯春1, 吴洪涛1, 乔兵2, 陈柏1   

  1. （1 南京航空航天大学机电学院，南京 210016）（2 南京航空航天大学航天学院，南京 210016）
  • 收稿日期:2011-10-31 修回日期:2012-01-13 出版日期:2012-08-25 发布日期:2012-08-25
  • 作者简介:冯春 1981年生，2008年获内蒙古工业大学机械电子工程专业硕士学位，现为南京航空航天大学机械电子工程专业博士研究生。研究方向为机器人视觉及其导航。
  • 基金资助:

    国家自然科学基金(51075209)资助项目

Relative Position and Attitude Determination Between Spacecrafts Based on Bifocal Monocular Vision

Feng Chun1,Wu Hongtao1,Qiao Bing2,Chen Bai1   

  1. (1 School of Mechanical Electronical, Nanjing University of Aeronautics and Astronautics, Nanjing 210016)(2 School of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016)
  • Received:2011-10-31 Revised:2012-01-13 Published:2012-08-25 Online:2012-08-25

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摘要： 文章首先利用双焦成像算法确定航天器间的相对位置，再利用相对位置确定两个航天器间的相对姿态，最终获取相对位姿参数的解析解。在给定相机两个独立焦距条件下，对双焦深度估计误差进行分析，指出影响其精度的因素，并对相对位姿参数估计精度进行了讨论。最后，对该算法进行数学仿真，仿真结果表明该算法能够满足航天器相对位姿确定精度和实时计算要求。

关键词: 四元数, 深度估计, 双焦成像, 单目视觉, 姿态控制, 相对位置, 航天器

Abstract:  Firstly, the relative position parameters were computed by using the bifocal imaging algorithm. Then, the relative attitude parameters were calculated by the position parameters which have been obtained. At last, the analytical solution of relative position and attitude parameters was achieved. Under the condition of two different sets of focals, the bifocal depth estimation error was analyzed, the influence factors of precision were pointed out, and the estimation precision of relative position and attitude parameters was discussed. The solution has been validated by using mathematical simulation, and simulation results show that the solution can satisfy the accuracy of relative parameters between spacecrafts and the realtime computation.

Key words: Quaternion, Depth estimation, Bifocal imaging, Monocular vision, Attitude control, Relative position, Spacecraft