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空间飞行器上普遍具有星箭对接环部件,可以提供单圆特征,但基于单个空间圆的单目视觉位姿估计有两个位姿解,无法应用到实际工程中。为了有效剔除虚假解的干扰,利用对接环平面外一参考点到圆心距离的欧氏不变性作为约束,提出一种虚假解剔除方法,给出了在该约束条件下有唯一解的证明,并对位姿求解方法进行了误差仿真分析,给出了提高测量精度的可行策略。根据空间圆在图像上的投影计算出空间圆位姿的两个解;利用参考点到圆心的距离已知且不变作为约束剔除虚假解,得到星箭对接环的真实位姿;对该方法的有效性进行了仿真和实验验证。实验结果表明,该方法可有效剔除虚假解,计算过程简单,结果稳定可靠,对接环圆心计算误差小于0.5%,姿态角误差小于0.8°。
Spacecraft generally have a star and arrow docking ring components, can provide a single circular feature, but based on a single spatial circle monocular pose estimation has two position solutions, can not be applied to the actual project. In order to effectively eliminate the interference of false solutions, a Eulerian invariant of a reference point to the center of the circle outside the plane of the butt joint ring is used as a constraint, a false solution method is proposed, and a proof is given that there is a unique solution under the constraint condition. Error simulation analysis of pose solving method is given, and a feasible strategy to improve the measurement accuracy is given. According to the projection of the circle on the image, two solutions are calculated for the position and orientation of the space circle. The distance between the reference point and the center of the circle is known and invariant as a constraint to eliminate the false solution, The validity of the simulation and experimental verification. Experimental results show that this method can effectively eliminate false solutions, the calculation process is simple and the result is stable and reliable. The calculated error of the center of the butt joint ring is less than 0.5% and the attitude error is less than 0.8 °.