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提出了一种基于可见光相机与激光测距仪的空间碎片在轨识别与定位方法。空间碎片的相对速度、距离等因素直接影响碎片成像轨迹。为完成帧间匹配,采用与轨迹边缘具有等价二阶中心矩的椭圆描述其特征,并以此制定帧间匹配准则。通过帧间匹配,即可获得图像中碎片的坐标,解算出碎片方位角。当仅有测角信息时,采用位置-速度滤波算法,引导激光测距仪对目标相对距离进行测量;当同时具备测角信息与测距信息时,采用扩展Kalman滤波算法对目标进行滤波定位,并获得高精度的目标运动状态信息。
A method of on-orbit identification and location based on visible light camera and laser range finder is proposed. The relative speed of space debris, distance and other factors directly affect the debris trajectory. In order to complete the inter-frame matching, the feature of the ellipse with the equivalent second-order central moment of the edge of the trajectory is described and the inter-frame matching criterion is established. Through the inter-frame matching, you can get the coordinates of the fragments in the image, and solve the azimuths of the fragments. When there is only angle measurement information, the position-velocity filtering algorithm is used to guide the laser rangefinder to measure the relative distance of the target. When both the angle measurement information and the ranging information are available, the extended Kalman filtering algorithm is used to filter the target. And get high-precision target state of motion information.