Cooperative target design method in microsatellite rendezvous and docking pose measurement

LIU ZHANG; WEN ZHANG; Ya-ming WANG; Xue-ying LYU; Wen-hua WANG

doi:10.37188/CJLCD.2021-0244

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Cooperative target design method in microsatellite rendezvous and docking pose measurement

Image Processing | 更新时间：2022-03-25

- Cooperative target design method in microsatellite rendezvous and docking pose measurement
- Chinese Journal of Liquid Crystals and Displays Vol. 37, Issue 3, Pages: 415-424(2022)
- 作者机构：
  
  吉林大学仪器科学与电气工程学院，吉林长春 130012
- 作者简介：
- 基金信息：
  
  Ministry of Science and Technology Key Research and Development Plan(2016YFB0501000);Ministry of Science and Technology Key Research and Development Plan(2016YFB0501003);Equipment Advance Research Field Fund(JZX7Y20190254047001);Shanghai Aerospace Science and Technology Innovation Fund(SAST2018046);National Defense Basic Research Program(JCKY2019110)
- DOI：10.37188/CJLCD.2021-0244
  CLC： V19
- Received：21 September 2021，
  
  Revised：15 October 2021，
  
  Published：2022-03
- 稿件说明：
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LIU ZHANG, WEN ZHANG, Ya-ming WANG, et al. Cooperative target design method in microsatellite rendezvous and docking pose measurement[J]. Chinese journal of liquid crystals and displays, 2022, 37(3): 415-424.
DOI：

LIU ZHANG, WEN ZHANG, Ya-ming WANG, et al. Cooperative target design method in microsatellite rendezvous and docking pose measurement[J]. Chinese journal of liquid crystals and displays, 2022, 37(3): 415-424. DOI： 10.37188/CJLCD.2021-0244.

摘要

针对基于视觉传感器的微小卫星大视距交会对接中，合作目标难以被相机清晰识别的问题，本文设计了一种一体化新型合作靶标，在100 m~100 mm测量范围内，实现由远及近高精度双星相对位姿解算。首先，建立合作目标模型，确定合作目标类型；其次，采用P

P(Perspective-

-Point)算法设计合作目标特征点的个数与尺寸；然后，根据相机视场、焦距与合作靶标的约束关系，确定合作目标模型尺寸；最后，通过理论与实验相结合的手段进行验证。仿真实验结果表明，在双星相对距离为100 m时，姿态误差小于4.01°，位置误差小于7.57 mm。在相对距离为100 mm时，姿态误差小于0.06°，位置误差小于0.02 mm。

Abstract

Aiming at the problem that the cooperative target is difficult to be clearly recognized by the camera in the large visual range rendezvous and docking of small satellites based on vision sensors

this paper designs a new integrated cooperative target

which can achieve high precision to resolve the relative poses of the binary stars from far to near in the measurement range of 100 m to 100 mm. Firstly

a cooperative target model is established to determine the type of cooperative target. Secondly

the P

P (Perspective-

-Point) algorithm is used to design the number and size of the cooperative target's feature points. Then

according to the constraint relationship between the camera's field of view

focal length and the cooperative target

the size of the cooperative target model is determined. Finally

it is verified by a combination of theory and experiment. The simulation experiment results show that the attitude error is less than 4.01°

and the position error is less than 7.57 mm when the object distance is 100 m. When the object distance is 100 mm

the attitude error is less than 0.06°

and the position error is less than 0.02 mm.

关键词

Keywords

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