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鉴于实时高精度航天器位姿测量不仅是航天器实时监控和跟踪的重要技术保证,同时也是实时调整和补偿航天器姿态的主要依据,提出一种基于单目视觉的航天器实时位姿测量方法,利用高精度旋转平台几何摄像机的方式对被测目标进行位姿解算。该方法不需要对被测目标进行几何约束,同时也不用进行转站测量,因而可以进行动态实时的在线位姿检测。航天器位姿实验结果表明:该单目视觉测量方法姿态测量误差小于0.05°,位置测量误差小于0.02m,满足实际工程0.1°和0.05m的精度需求。
In view of the real-time high-precision attitude measurement of spacecraft is not only an important technical guarantee for real-time monitoring and tracking of spacecraft, but also the main basis for real-time adjustment and compensation of spacecraft attitude, a real-time pose measurement method based on monocular vision , The use of high-precision rotating platform geometry camera approach to the measured position pose solution. The method does not need geometric constraints on the measured target, and it also does not need to measure the stations, so dynamic online pose detection can be performed in real time. The experimental results of attitude and attitude of spacecraft show that the attitude measurement error of the monocular vision measurement method is less than 0.05 ° and the error of position measurement is less than 0.02m, which meets the precision requirements of 0.1 ° and 0.05m of the actual project.