中国空间科学技术

中国空间科学技术 ›› 2022, Vol. 42 ›› Issue (6): 71-78.doi: 10.16708/j.cnki.1000-758X.2022.0085

• 论文 • 上一篇    下一篇

可见光/激光组合的相对位姿测量研究

魏建宇，康国华，武俊峰，赵腾，邱钰桓，许传晓   

  1. 南京航空航天大学 航天学院，南京211106
  • 出版日期:2022-12-25 发布日期:2022-11-09

Research on relative position and attitude measurement of visible light/laser combination

WEI Jianyu，KANG Guohua，WU Junfeng，ZHAO Teng，QIU Yuhuan，XU Chuanxiao   

  1. College of Astronautics，Nanjing University of Aeronautics and Astronautics，Nanjing 211106，China
  • Published:2022-12-25 Online:2022-11-09

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摘要： 针对可重构航天器模块超近距离对接场景下特征点消失问题，提出一种可见光/激光的高精度相对位姿测量方法。该方法先通过可见光/激光组合对初始相对横滚角误差进行校零，完成粗校准环节；然后通过激光二维双镜反射法进行精确的相对位姿解算，获得高精度相对位姿数据。仿真结果表明，在现有技术条件下，该方法在模块相对距离在100cm内可不依赖视觉特征点，实现±1.2mm和±0.03°的相对位姿测量精度，为模块航天器对接后续的超近距离高精度位姿控制奠定基础。

关键词: 相对位姿, 视觉导航, 激光测量, 双镜反射法, 组合航天器

Abstract: Aiming at the disappearance of feature points in the scene of ultra close docking of reconfigurable spacecraft modules，a high-precision relative pose measurement method based on visible light/laser was proposed.According to this method，the initial relative roll angle error is corrected by the combination of visible light and laser，and the coarse calibration is completed.Then，the accurate relative pose is calculated by laser two-dimensional double mirror reflection method to obtain high-precision relative pose data.The simulation results show that，under the existing technical conditions，this method can realize the relative pose measurement accuracy of ±1.2mm and ±0.03° without relying on visual feature points when the relative distance of the module is within 100cm，which lays a foundation for the ultra close and highprecision pose control of the module spacecraft docking.

Key words: relative position and attitude, visual navigation, laser gauge, double mirror reflection method, combined spacecraft