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Research on pose measurement between two non-cooperative spacecrafts in close range based on concentric circles
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摘要
常用的非合作目标航天器姿态测量技术往往借助于单目视觉进行迭代或双目视觉进行三维重建，该类方法在特征匹配过程中会产生误差，且实时性和准确性较差。针对上述问题，根据空间非合作飞行器的星箭对接环和发动机喷嘴具有空间平行但不共面的位置关系，开展了基于同心圆特征的非合作目标超近距离姿态测量模型的研究。通过改进双目视觉测量模型，完善了模型的角度适应性问题，提高了模型的适用性。仿真结果显示该算法在超近距离的姿态测量精度优于0.5°。
Abstract
Conventional measurement of relative poses between two non-cooperative spacecrafts in close range is derived from the iteration of monocular vision or three-dimensional reconstruction of binocular vision, which introduces errors in the process of feature matching, and the timeliness and accuracy are poor. Regarding the issues above, this article tries to do some researches on measurement of relative poses between two non-cooperative spacecrafts in close range based on concentric circles. Here, 'concentric circles' means the spatial parallel but not coplanar positional relationship between docking ring and engine nozzle. Through the binocular vision measurement model, the angle adaptability and the applicability are improved. Then, the algorithm of this model is simulated, and the simulated results show that the accuracy of the algorithm can reach higher than 0.5°.
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Overview
Overview: With the frequent aerospace activities, the damaged and crashed spacecrafts are produced and become uncontrolled non-cooperative targets. They will take up a large number of orbital resources and threaten the safety of astronauts and other satellites. In order to ensure the space activities smoothly, the on-orbit service technology toward non-cooperative targets will become a serious problem that the space powers must face. Compared with cooperative target, the rendezvous and docking of non-cooperative target are different in close range. At this time, the service spacecraft cannot passively acquire the status information of the target spacecraft and the target spacecraft has no luminescent sign, which increases the difficulty of on-orbit service. Therefore, the interest in on-orbit servicing missions, together with the well-known challenge of approaching, has pushed the research towards techniques for non-cooperative targets. This paper attempts to do some researches on measurement of relative poses between two non-cooperative spacecrafts in close range based on concentric circles. Here, 'concentric circles' means the spatial parallel but not coplanar positional relationship between docking ring and engine nozzle. Without any artificial markings, the algorithm can solve the concentric circle size, the projected positions of the two center points, and the spatial distance between the two circular surfaces. The algorithm solves the problem by dividing the model into three different positional relationships to improve the model's angular adaptability. The algorithm can get the three-dimensional attitude angle by extending from the monocular model to the binocular model, which improves the reliability of the measurement and expands the scope of its application. Finally, simulation results show that this algorithm is feasible for super short-distance pose measurement.
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图 1 世界坐标系、相机坐标系、图像坐标系、像素坐标系之间的关系
Figure 1. The relationship among world coordinate system, camera coordinate system, image coordinate system and pixel coordinate system
图 2 摄像机观察圆形平面的投影图
Figure 2. The projection of the circular plane from the camera perspective
图 7 左、右像面成像示意图。(a)目标卫星相对于追踪卫星在XZ面内顺时针转动1°；(b)目标卫星相对于追踪器在YZ面内顺时针转动1°
Figure 7. The imaging diagrams of left and right image planes. (a) The target satellite rotates 1° clockwise in the XZ plane relative to the tracking satellite; (b) The target satellite rotates 1° clockwise in the YZ plane relative to the tracking satellite
图 8 改变基线、光轴与Z轴夹角时姿态误差。(a)误差与基线的关系；(b)误差与光轴夹角的关系
Figure 8. The error of the attitude angle when changing the baseline and the angle between optical axis and z axis. (a) The relationship between the error and the baseline; (b)The relationship between the error and the angle of optical axis
图 9 单目、双目测量下改变绕X轴、Y轴转角对应的姿态误差。(a)误差与绕Y轴转角的关系；(b)误差与绕X轴转角的关系
Figure 9. The error of the attitude angle by single and binocular measurements respectively when changing the angle of X axis or Y axis. (a) The relationship between the error and the angle around Y axis; (b) The relationship between the error and the angle around X axis
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参考文献
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