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为解决在轨服务最终接近段传统单目视觉相对导航方法受相机视场限制以及非合作航天器无法设置人工靶标的问题,提出了以非合作航天器太阳帆板三角形支架的部分结构为测量目标的视觉相对导航算法.首先,设计了“自拍杆”相机安装结构和相机实时标定方案,给出了视觉相机安装角的计算方法;然后,基于逆投影原理构建满足三角形支架实际空间几何构型约束的优化模型,采用蚁群搜索算法求解特征点的景深,并应用绝对定位方法估计航天器之间的相对位置和姿态;最后,以非合作航天器在轨服务最终2 m~0 m的接近段为背景进行数学仿真,在相对距离小于1 m时,航天器之间的相对位置和相对姿态确定精度分别优于3 mm和0.2°,验证了算法的有效性和可行性.数学仿真结果表明:该相对导航方案可行,导航算法具有较高的精度,且相对导航的精度随着航天器之间的相对距离的逐渐减少而逐渐提高;同时,该算法对投影点测量误差具有较好的鲁棒性,在投影点测量误差较大时仍具有较高的精度.
In order to solve the problem that the traditional monocular visual relative navigation method is limited by the camera field of view and the non-cooperative spacecraft can not set artificial targets in the final approach of on-orbit service, the partial structure of the triangular bracket of non-cooperative spacecraft solar panels is proposed as the measurement target Based on the principle of backprojection, this paper proposes a method to calculate the installation angle of the camera based on the real-time calibration of the “self-stick” camera and the real-time calibration of the camera. Then, Type constraint, the ant colony algorithm is used to solve the depth of field of the feature points, and the absolute position method is used to estimate the relative position and attitude of the spacecraft. Finally, the non-cooperative spacecraft is used to serve the final 2 m ~ 0 m Close to the background of the mathematical simulation, when the relative distance is less than 1 m, the spacecraft relative position and relative attitude determination accuracy is better than 3 mm and 0.2 °, respectively, verify the effectiveness and feasibility of the algorithm.Mathematical simulation results The results show that the relative navigation scheme is feasible and the navigation algorithm has high precision. The accuracy of relative navigation varies with the relative distance between spacecraft The algorithm has better robustness to the measurement error of the projection point and still has higher accuracy when the measurement error of the projection point is larger.