中国空间科学技术

中国空间科学技术 ›› 2018, Vol. 38 ›› Issue (1): 18-28.doi: 10.16708/j.cnki.1000-758X.2018.0014

• 研究探讨 • 上一篇    下一篇

空间机械臂抓捕动态目标快速稳定跟踪方法

王晓雪1,2，刘传凯1,2,* ，王保丰1,2，唐歌实1,2，王镓1,2，郭祥艳1,2   

  1. 1. 航天飞行动力学技术重点实验室，北京  100094
    2. 北京航天飞行控制中心，北京  100094
  • 收稿日期:2017-02-15 接受日期:2018-01-15 出版日期:2018-02-25 发布日期:2020-02-12
  • 通讯作者: 刘传凯(1983-),男,工程师,ckliu2005@126.com,研究方向为空间机械臂操作规划与空间遥操作
  • 作者简介:王晓雪(1985-),女,硕士研究生,wxx1130@qq.com,研究方向为计算机视觉与空间遥操作
  • 基金资助:
    国家自然科学基金(61773047)

Fast and stable tracking method for space manipulator capturing dynamictarget#br#

WANG Xiaoxue1,2, LIU Chuankai1,2,*, WANG Baofeng1,2, TANG Geshi1,2, WANG Jia1,2, GUO Xiangyan1,2   

  1. 1. Key Laboratory of Science and Technology on Aerospace Flight Dynamics, Beijing 100094, China
    2. Beijing Aerospace Flight Control Center, Beijing 100094, China
  • Received:2017-02-15 Accepted:2018-01-15 Published:2018-02-25 Online:2020-02-12
  • Supported by:

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摘要：

面向空间机械臂对在轨飞行器、对接舱段等目标进行抓捕的应用需求,对近距离交会对接中的动态目标跟踪问题展开研究，提出了一种基于反向投影模板自适应更新的快速跟踪方法。该方法在分析发光目标灰度特性的基础上，计了一种能够充分表征目标差异的特征选取算法，有效消除了随变性较小的信息对跟踪过程的影响。利用该特征,设计了目标在不同帧之间的相似性比较方法，并制定了目标特征模版更新策略，解决了由于目标姿态和光线的变化而导致的跟踪错误问题。对跟踪过程中可能出现的目标移入移出相机视场问题提出了一种临界目标抛弃、找回策略,避免了目标的局部跟丢问题。最后通过跟踪试验,有效验证了该算法的实时性和鲁棒性，实现了10帧/s以上的稳定跟踪。

关键词: 机械臂抓捕, 自主交会对接, 连续自适应均值漂移算法, 目标跟踪, 反向投影

Abstract:

According to the application requirements of space manipulator capturing of flying targets, the problem of tracking the cooperative targets in the close range rendezvous and docking was investigated, and a novel method including three main steps was proposed. Firstly, according to the target’s luminescent property the feature selection algorithm was designed to eliminate the influence of invalid information. Secondly, using these features a method of similarity comparison between different frames and the strategy of template updating were investigated to solve the problem of invalidation of original features due to the variation of targets’ orientation and illumination. Thirdly, aiming at the problem of accessing and coming out of the view field, a method of abandoning and retrieving targets was designed. Finally, simulation results show that the proposed approach is fast and robust, and it can realize tracking speed of 10 frame/s.

Key words:

manipulator capturing, autonomous rendezvous and docking, CamShift algorithm, object tracking, back project