A monocular structured light vision method for pose determination of large non-cooperative satellites |
| |
Authors: | Xue-Hai Gao Bin Liang Le Pan Zhi-Heng Li Ying-Chun Zhang |
| |
Affiliation: | 1.Center of Intelligent Control and Telescience, Graduate School at Shenzhen,Tsinghua University, the Xili University Town,Shenzhen,China;2.Shenzhen Aerospace Dongfanghong HIT Satellite Ltd.,Shenzhen,China |
| |
Abstract: | A space robotic system is expected to perform on-orbit servicing missions to rescue malfunctioned satellites in geostationary orbit (GEO). In final berthing and capture, it is difficult for a space robot to determine the relative pose (attitude and position) of a non-cooperative malfunctioned satellite that is usually huge and without artificial recognition devices. In this paper, a space robot with a monocular structured light vision subsystem is introduced to solve the problem. Firstly, the monocular structured light vision subsystem composed of a single camera and a point light source is designed. Secondly, a partial rectangular shaped framework, which is very common on a non-cooperative malfunctioned satellite, is chosen as the recognition object for non-cooperative pose measurement. Using projection constraints on rectangle and circular points, a rectangle feature reconstruction algorithm is proposed. Thirdly, according to the reconstructed rectangle feature, a least square method of pose determination is presented. Lastly, using a semi-physical vision simulation system, several experiments of typical cases are simulated to verify the pose determination method of large non-cooperative target. The results show the validity and flexibility of the proposed method. |
| |
Keywords: | |
本文献已被 SpringerLink 等数据库收录! |
|