| 引用本文: | 丁少闻,陈浩,王洁,等.星箭分离相对位姿摄影测量方法.[J].国防科技大学学报,2018,40(5):14-19.[点击复制] |
| DING Shaowen,CHEN Hao,WANG Jie,et al.Photogrammetry for relative pose measurement of satellite and rocket[J].Journal of National University of Defense Technology,2018,40(5):14-19[点击复制] |
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| 星箭分离相对位姿摄影测量方法 |
| 丁少闻1,2, 陈浩3, 王洁1,4, 张小虎1,5 |
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(1. 国防科技大学 空天科学学院， 湖南 长沙 410073;2.
2. 国防科技大学 图像测量与视觉导航湖南省重点实验室， 湖南 长沙 410073;3. 北京宇航系统工程研究所， 北京 100076;4. 北京空间机电研究所， 北京 100094;5. 中山大学 航空航天学院， 广东 广州 510000)
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| 摘要: |
| 提出一种基于视觉的星箭分离相对位姿测量方法。在相机内参数已知的情况下，将相机安装于运载火箭，并在卫星上固连不少于6个合作标志，利用相机对合作标志实时成像；基于单目位姿估计的基本原理，采用高效n点渗透与正交迭代结合的方式解算卫星与火箭之间的相对位姿关系。仿真实验结果、半实物仿真实验结果证明了所提测量方法的可行性和准确性。 |
| 关键词: 星箭分离 位姿估计 高效n点渗透 正交迭代 |
| DOI：10.11887/j.cn.201805003 |
| 投稿日期：2017-05-31 |
| 基金项目:国防科技大学科研计划资助项目（ZK16-03-27） |
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| Photogrammetry for relative pose measurement of satellite and rocket |
| DING Shaowen1,2, CHEN Hao3, WANG Jie1,4, ZHANG Xiaohu1,5 |
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(1. College of Aeronautics and Astronautics， National University of Defense Technology， Changsha 410073, China;2.
2. Hunan Key Laboratory of Videometrics and Vision Navigation, National University of Defense Technology， Changsha 410073, China;3. Beijing Institute of Aerospace Systems Engineering， Beijing 100076, China;4. Beijing Institute of Space Mechanics & Electricity, Beijing 100094, China;5. School of Aeronautics and Astronautics, Sun Yat-Sen University, Guangzhou 510000, China)
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| Abstract: |
| A method of measuring the relative pose of satellite rocket separation based on vision was presented. For the camera parameters were known, the camera was installed on the carrier rocket, and more than six cooperation signs were fixed on the satellite. The cameras can take pictures of the cooperation signs in real time. Based on the basic principle of monocular vision pose estimation, the relative pose relationship between satellite and rocket was solved by combining efficient perspective n point with orthogonal iteration. The simulation experiment and the semi physical simulation experiment prove the feasibility and accuracy of the proposed method. |
| Keywords: satellite-rocket separation position and attitude estimation efficient perspective-n-point orthogonal iteration |
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