摘要
在航天器编队飞行应用中,航天器间相对状态(相对位置和姿态)的确定是实现航天器自主控制的重要条件。通过充分利用计算机视觉理论及相机成像原理,提出了一种基于计算机视觉的航天器间相对状态的测量系统。推导了基于目标靶特征点确定航天器相对状态的四元数法,介绍了系统的测试原理及标定方法,并通过采用APSCMOS相机作为图像传感器,建立了它的试验原型,验证了测量原理和算法的正确性。该测量系统结构简单、体积小、重量轻、功耗低、算法简单、速度快,近距离测量精度高,能够广泛地应用于空间合作目标间相对状态的测量。
In order to realize autonomous control for formationflying spacecrafts, the relative state (relative position and attitude)between two space vehicles must be detected precisely. An optical method for determination of the relative position and attitude between spacecrafts is proposed, which is based on the computer vision and imaging theory. First, a quaternion method for measuring the relative position and attitude based on the coordinates of the feature points on the target body is deduced. Then the principle of the testing system and the calibrating technique is introduced. Finally, the experimenting prototype are established to confirm the validity of the testing principle and the algorithm, in which the APS(active pixel sensor) CMOS camera is used as image sensor. Since quaternion theory and the CMOS camera are used to testing the relative state, which make the system with a lot of the advantageous such as smaller volume, lighter weight, higher precision and lower power consumption etc, can be widely used in measuring the relative position and attitude between cooperative space targets.
出处
《光学技术》
CAS
CSCD
2003年第6期664-666,共3页
Optical Technique
