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针对非合作航天器的对接环识别问题,研究基于单目视觉和激光测距仪的识别算法。首先给出一种简单的非合作航天器相对姿态单目视觉确定算法,得到通用的坐标转换矩阵表示的相对姿态,并由激光测距仪的信息得到相对位置。然后采用最小二乘法,得到对接环外端框所成图像的椭圆参数。根据相对位姿和椭圆参数,提出对接环识别算法。仿真结果表明,提出的识别算法能够准确地确定对接环外端框的相关尺寸。
Aiming at the problem of docking ring identification of non-cooperative spacecraft, the recognition algorithm based on monocular vision and laser rangefinder is studied. First, a simple uncooperative spacecraft relative attitude monocular vision determination algorithm is given, and the relative attitude of the common coordinate transformation matrix is obtained. The relative position of the spacecraft is obtained from the information of laser rangefinder. Then use the least squares method to obtain the ellipse parameter of the image formed by the outer end of the docking ring. According to the relative pose and ellipse parameters, the docking ring recognition algorithm is proposed. The simulation results show that the proposed identification algorithm can accurately determine the relative size of the outer end of the docking ring.