一种空间非合作目标相对位姿紧耦合估计方法

航天活动中的许多任务如对目标的绕飞观测和逼近停靠等测控任务，其中的关键技术之一是相对位姿估计，而对非合作目标的相对位姿估计更是其中的重点与难点。针对该难点，提出了一种融合单目相机和激光测距仪的空间非合作目标相对位姿紧耦合估计方法。采用单目相机获取目标序列图像，在初始化时利用激光测距仪解决单目相机尺度模糊性问题，构建真实尺度下的世界坐标系，在后续对非合作目标进行连续位姿估计时，使用紧耦合的形式融合相机与激光测距仪数据来优化估计位姿，并且解决估计漂移问题。最后使用Blender软件生成空间非合作目标序列图像，仿真验证了本文算法能稳健地得到较高精度的空间非合作目标的相对位姿，且拥有较好的实时性。

A tight coupling method for relative pose estimation of the spatial non-cooperative targets

In many space missions such as fly-around observing and approaching the targets, the relative pose estimation of non-cooperative space targets is one of the key technologies. In this paper, A tight coupling method for relative pose estimation of the non-cooperative space targets based on monocular camera and laser rangefinder is proposed. The monocular camera is used to obtain the sequence image of the target. The laser rangefinder is used to solve the scale fuzziness problem of monocular camera and construct the world coordinate system in real scale during initialization. In the continuous pose estimation, the camera data and the laser rangefinder data are fused in a tightly coupled form to optimize the estimated pose. The non-cooperative space target images generated by Blender are used for simulation. The results show that the method proposed in this paper has good real-time performance and can estimate the relative pose of non-cooperative space targets accurately and robustly.