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随着载人航天和宇宙空间站的不断发展,航天器自主对接技术显得日趋重要.在航天器对接的最后逼近阶段,实时精确测量两航天器间的相对位置姿态参数是对接成功的关键.针对航天器交会对接中位置姿态参数的测量问题,研究了三目视觉的非线性测量方法,阐述三目视觉的测量原理并建立数学模型,将相对位姿参数求解问题转化为非线性优化问题,进而利用Levenberg-Marquardt算法求解.仿真研究表明,与双目视觉线性方法和三目视觉线性方法相比,该方法能降低图像匹配误差的影响,提高特征点的定位精度,增加测量系统的可靠性.
With the continuous development of manned space and space station, spacecraft autonomous docking technology is becoming more and more important.In the final approaching stage of spacecraft docking, real-time accurate measurement of the relative position and attitude parameters between two spacecraft is the key to docking success. In this paper, the nonlinear measurement method of trinocular vision is studied. The measurement principle of trinocular vision is expounded and a mathematical model is established. The problem of relative pose parameter is transformed into a nonlinear optimization problem, Levenberg-Marquardt algorithm.The simulation results show that compared with binocular vision method and trinocular vision method, this method can reduce the influence of image matching error, improve the location accuracy of feature points and increase the reliability of the measurement system.