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Visual navigation method in autonomous rendezvous and docking

A visual navigation, rendezvous and docking technology, applied in the field of image information, can solve problems such as the inability to use the space environment, the inability to transmit sound waves, and the real-time performance to be mentioned, to eliminate gross errors, improve stereo matching speed, and strong anti-interference ability. Effect

Inactive Publication Date: 2010-09-22
XIDIAN UNIV
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AI Technical Summary

Problems solved by technology

This method can only determine the position of one point of the target object at a time, and cannot obtain the pose of the target object in one step. Applied to space environment

Method used

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  • Visual navigation method in autonomous rendezvous and docking
  • Visual navigation method in autonomous rendezvous and docking

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Embodiment Construction

[0042] refer to figure 1 , the visual navigation steps of the present invention are as follows:

[0043] Step 1, 150m ~ 50m long-distance target detection and tracking.

[0044] (1.1) Obtain the weak target image in the space through a high-resolution camera;

[0045] (1.2) Identify and determine the target according to the characteristics of the target;

[0046] (1.3) Use the particle filter to effectively track the target. The particle filter is a nonlinear dynamic system analysis tool based on Bayesian theory, stochastic estimation theory and Monte Carlo method. It is also a tool for solving Bayesian A practical algorithm for estimation problems. The algorithm is to use a random sample set with the weight corresponding to the target to represent the posterior probability density of the target, calculate the histogram of each particle, and normalize it to the observation density p(u), 0≤p(u) ≤1. Use p(u) and the tracked area q(u) of the first frame to update the weight ...

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Abstract

The invention discloses a visual navigation method in autonomous rendezvous and docking, which mainly solves the problem that specific parameters of targets need to be known in advance in the prior art. The method comprises the following specific processes of: effectively tracking the targets by utilizing a particle filter at the stage of between 150 and 50 meters; measuring pose information of the targets by adopting stereoscopic vision at the stage of between 50 and 2 meters, and performing quick stereo matching by adopting a box filtering acceleration method; positioning areas and extracting area characteristic points by adopting Hough conversion at the stage of between 2 and 0.6 meter; and eliminating measuring dead zones by adopting infrared auxiliary distance measurement at the stage of between 0.6 and 0.2 meter. In the method, under the condition that the specific parameters of the targets are unknown, the Robust identification and tracking of the targets and the determination of the relative pose of the targets are realized only by using geometrical characteristics of the targets, and the method can be used for autonomous navigation in the process of getting close to the targets gradually under the unknown environment.

Description

technical field [0001] The present invention belongs to the technical field of image information, specifically a navigation method for assisting vision, which processes and analyzes acquired videos, detects and tracks targets at long distances, and realizes the solution of relative position and attitude information of targets at relatively short distances. It is used for the autonomous navigation of spacecraft autonomous rendezvous and docking and gradually approaching process. Background technique [0002] Spacecraft rendezvous technology refers to the technology that the two types of spacecraft, spacecraft and space shuttle, meet in orbit and are connected structurally as a whole. Space rendezvous and docking is a prerequisite for the realization of on-orbit services such as space assembly, recovery, supply, maintenance, astronaut exchange and rescue of space stations, space shuttles, space platforms and space transportation systems. The rendezvous and docking of the "Gem...

Claims

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Application Information

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IPC IPC(8): G01C21/24G01S17/06G01S17/42G06T7/20
Inventor 郭宝龙孙伟刘凯陈龙
Owner XIDIAN UNIV
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