微小卫星交会对接位姿测量中合作目标设计方法

张刘; 张文; 王亚明; 吕雪莹; 王文华

doi:10.37188/CJLCD.2021-0244

您当前的位置：

首页 >

文章列表页 >

微小卫星交会对接位姿测量中合作目标设计方法

图像处理 | 更新时间：2022-03-25

- 微小卫星交会对接位姿测量中合作目标设计方法
- Cooperative target design method in microsatellite rendezvous and docking pose measurement
- 液晶与显示 2022年37卷第3期页码：415-424
- 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：
  
  [ "张刘 (1978-)，男，安徽蚌埠人，博士，教授，2007年于哈尔滨工业大学获得工学博士学位，主要从事航天光学遥感系统设计、仿真及应用，星敏感器等技术研究。E-mail: zhangliu@jlu.edu.cn" ]
  [ "王文华 (1982-)，男，山东泰安人，博士，副教授，2010年于中国科学院长春光学精密机械与物理研究所获得博士学位，主要从事航天相机成像电子学、光电成像与图像处理、空间目标对接位姿测量等技术方面的研究。E-mail: wangwh900@jlu.edu.cn" ]
- 基金信息：
  
  科技部重点研发计划(2016YFB0501000);科技部重点研发计划(2016YFB0501003);装备预研领域基金(JZX7Y20190254047001);上海航天科技创新基金(SAST2018046);国防基础科研计划(JCKY2019110)
- DOI：10.37188/CJLCD.2021-0244
  中图分类号： V19
- 收稿日期：2021-09-21，
  
  修回日期：2021-10-15，
  
  纸质出版日期：2022-03
- 稿件说明：
移动端阅览
张刘, 张文, 王亚明, 等. 微小卫星交会对接位姿测量中合作目标设计方法[J]. 液晶与显示, 2022,37(3):415-424.

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.
张刘, 张文, 王亚明, 等. 微小卫星交会对接位姿测量中合作目标设计方法[J]. 液晶与显示, 2022,37(3):415-424. DOI： 10.37188/CJLCD.2021-0244.

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

references

高世杰 , 吴佳彬 , 刘永凯 , 等 . 微小卫星激光通信系统发展现状与趋势 . 中国光学 , 2020 . 13 ( 6 ): 1171 - 1181 . DOI: 10.37188/CO.2020-0033 http://doi.org/10.37188/CO.2020-0033 .

S J GAO , J B WU , Y K LIU , 等 . Development status and trend of micro-satellite laser communication systems . Chinese Optics , 2020 . 13 ( 6 ): 1171 - 1181 . DOI: 10.37188/CO.2020-0033 http://doi.org/10.37188/CO.2020-0033 .

TSUDAY , T SAIKI , F TERUI , 等 . Initial achievements of hayabusa2 in asteroid proximity phase . Transactions of the Japan Society for Aeronautical and Space Sciences , 2020 . 63 ( 4 ): 115 - 123 . DOI: 10.2322/tjsass.63.115 http://doi.org/10.2322/tjsass.63.115 .

梁慧慧 , 何秋生 , 贾伟振 , 等 . 一种多特征融合的目标跟踪算法 . 液晶与显示 , 2020 . 35 ( 6 ): 583 - 594 . DOI: 10.3788/YJYXS20203506.0583 http://doi.org/10.3788/YJYXS20203506.0583 .

H H LIANG , Q S HE , W Z JIA , 等 . Multi-feature fusion target tracking algorithm . Chinese Journal of Liquid Crystals and Displays , 2020 . 35 ( 6 ): 583 - 594 . DOI: 10.3788/YJYXS20203506.0583 http://doi.org/10.3788/YJYXS20203506.0583 .

于渊博 , 张涛 , 郭立红 , 等 . 卫星视频运动目标检测算法 . 液晶与显示 , 2017 . 32 ( 2 ): 138 - 143 . DOI: 10.3788/YJYXS20173202.0138 http://doi.org/10.3788/YJYXS20173202.0138 .

Y B YU , T ZHANG , L H GUO , 等 . Moving objects detection on satellite video . Chinese Journal of Liquid Crystals and Displays , 2017 . 32 ( 2 ): 138 - 143 . DOI: 10.3788/YJYXS20173202.0138 http://doi.org/10.3788/YJYXS20173202.0138 .

INABA N, ODA M. Autonomous satellite capture by a space robot: world first on-orbit experiment on a Japanese robot satellite ETS-Ⅶ[C]// Proceedings 2000 ICRA . Millennium Conference . IEEE International Conference on Robotics and Automation . Symposia Proceedings ( Cat . No . 00CH37065). San Francisco: IEEE, 2000: 1169-1174.

张瑞琰 , 姜秀杰 , 安军社 , 等 . 面向光学遥感目标的全局上下文检测模型设计 . 中国光学 , 2020 . 13 ( 6 ): 1302 - 1313 . DOI: 10.37188/CO.2020-0057 http://doi.org/10.37188/CO.2020-0057 .

R Y ZHANG , X J JIANG , J S AN , 等 . Design of global-contextual detection model for optical remote sensing targets . Chinese Optics , 2020 . 13 ( 6 ): 1302 - 1313 . DOI: 10.37188/CO.2020-0057 http://doi.org/10.37188/CO.2020-0057 .

LECROY J, HOWARD R, HALLMARK D. Effects of optical artifacts in a laser-based spacecraft navigation sensor[C]// Proceedings of the 45th AIAA Aerospace Sciences Meeting and Exhibit . Reno, Nevada: AIAA, 2007.

P BODIN , R NOTEBORN , R LARSSON , 等 . The prisma formation flying demonstrator: overview and conclusions from the nominal mission . Advances in the Astronautical Sciences , 2012 . 144 441 - 460 . .

LECROY J E, HALLMARK D S, HOWARD R T. Effects of optical artifacts in a laser-based spacecraft navigation sensor[C]// Sensors and Systems for Space Applications. International Society for Optics and Photonics, 2007, 6555: 655507.

H PAN , J HUANG , S QIN . High accurate estimation of relative pose of cooperative space targets based on measurement of monocular vision imaging . Optik , 2014 . 125 ( 13 ): 3127 - 3133 . DOI: 10.1016/j.ijleo.2013.12.020 http://doi.org/10.1016/j.ijleo.2013.12.020 .

温卓漫. 复杂场景下合作靶标的准确快速识别与定位[D]. 长春: 中国科学院长春光学精密机械与物理研究所, 2017.

WEN Z M. Accurate and fast identification and localization of a cooperative targets in complex background[D]. Changchun: Changchun Institute of Optics, Fine Mechanics and Physics, University of the Chinese Academy of Sciences, 2017. (in Chinese)

吕耀宇. 空间合作目标单目视觉位姿测量技术研究[D]. 长春: 中国科学院长春光学精密机械与物理研究所, 2018.

LYU Y Y. Research on mono-vision pose measurement for space cooperation target[D]. Changchun: Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, 2018. (in Chinese)

王保丰 , 李广云 , 陈继华 , 等 . 航天器交会对接中测量靶标的两种设计方法 . 宇航学报 , 2008 . 29 ( 1 ): 162 - 166 . https://www.cnki.com.cn/Article/CJFDTOTAL-YHXB200801028.htm https://www.cnki.com.cn/Article/CJFDTOTAL-YHXB200801028.htm , .

B F WANG , G Y LI , J H CHEN , 等 . Two methods of coded targets used in rendezvous and docking . Journal of Astronautics , 2008 . 29 ( 1 ): 162 - 166 . https://www.cnki.com.cn/Article/CJFDTOTAL-YHXB200801028.htm https://www.cnki.com.cn/Article/CJFDTOTAL-YHXB200801028.htm , .

杨进 , 姜国华 , 晁建刚 . 基于靶标图像的航天员手控交会对接方法 . 宇航学报 , 2010 . 31 ( 5 ): 1398 - 1404 . https://www.cnki.com.cn/Article/CJFDTOTAL-YHXB201005025.htm https://www.cnki.com.cn/Article/CJFDTOTAL-YHXB201005025.htm , .

J YANG , G H JIANG , J G CHAO . A cross drone image-based manual control rendezvous and docking method . Journal of Astronautics , 2010 . 31 ( 5 ): 1398 - 1404 . https://www.cnki.com.cn/Article/CJFDTOTAL-YHXB201005025.htm https://www.cnki.com.cn/Article/CJFDTOTAL-YHXB201005025.htm , .

R SZELISKI . Computer Vision: Algorithms and Applications , : Heildelberg Springer Science & Business Media , 2010 .

TWEDDLE B E. Computer vision based navigation for spacecraft proximity operations[D]. Massachusetts: Massachusetts Institute of Technology, 2010.

浏览量

151

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

基于深度信念网络的属性散射中心匹配及在SAR图像目标识别中的应用

基于颜色空间的彩色图像颜色评价

基于Res-Net深度特征的SAR图像目标识别方法

基于YOLOv4的空间红外弱目标检测