新目标构型下单帧图像相对状态测量方法

提出了一种新目标特征构型下基于单帧图像的航天器间相对位置和相对姿态测量方法。该方法利用具有对称结构的目标特征点在物体坐标系中的空间坐标以及它们在像平面坐标系中的图像坐标,根据透视成像理论,解算出目标航天器与图像传感器的相对状态。所设计的目标特征靶适应性强,不仅能保证图像传感器视野内有足够的特征点,而且还可作为基于线特征的算法的目标特征。试验结果表明:在近距离范围内,新目标特征构型下的算法,具有较高的测量精度。该测量方法可直接用于航天器编队飞行以及航天器交会对接过程中的相对姿态的自主测量。

Method of Relative State Measuring Based on New Target Structure and Single Image

The paper presents an optical method based-on a new target feature structure and single-image for testing the relative position and attitude between spacecrafts. According to the imaging theory of the image sensor, the relative states between objective spacecraft and image sensor are calculated by using the spatial coordinates in object frames of feature-points with symmetry structure and their coordinates in image plane frames. The designed feature target has better adaptability. It can ensure enough feature points in the view field of the image sensor, and can be used as feature in the algorithm based on line-feature. The measurement results indicate that this method based on new feature target has higher precision in near distance. The means can be directly applied for relative state self-determination in formation flying, rendezvous and docking of spacecrafts.