Tracking system and tracking method of relative movement angle and angular velocity of slowly rotating space fragment

Abstract

The invention provides a tracking method of a relative movement angle and an angular velocity of a slowly rotating space fragment. The method comprises the following steps: after image information of a slowly rotating space fragment object is acquired, performing extraction, matching, tracking and pose solving of features points on current frames; performing object local space point three-dimensional reconstruction; performing object global closed-loop detection to eliminate accumulative errors; and obtaining an angular velocity and a total angle of object movement, and eliminating interframe revolution errors. According to the invention, from the perspective of image features, by use of a graph optimization method, tracking measurement of the slowly rotating space fragment is realized through a feature relay between key frames and key points, at the same time, the accumulative errors are eliminated by use of a closed-loop detection means, and thus the measurement precision is improved.

Description

technical field [0001] The invention relates to an ultra-short-distance relative measurement technology of a spacecraft, in particular to a tracking system and a tracking method for the relative motion angle and angular velocity of space slow-rotating fragments. Background technique [0002] With the increase of human space activities, the number of space vehicles is also doubling year by year, and there is a possibility of collision at any time. At the same time, with the end of the service life of satellites, human beings have carried out various military experiments on invalid satellites, which have also caused a large amount of space debris. Therefore, at present, all countries are stepping up efforts to study the methods of removing space debris. Slow rotation motion is a common motion state of space debris, which maintains a uniform rotation around the inertial axis at a fixed angular velocity. When manipulating tasks such as space on-orbit service are carried out, i...

AI Technical Summary

Problems solved by technology

The traditional measurement method uses the visual navigation sensor combined with the Kalman filter method to estimate the relative motion angle and angular velocity of the target, but the estimation accuracy is limited by the accuracy of the state model and measurement model constructed, due to the nonlinearity of the model and the measurement of navigation equipment Noise and other reasons will cause the measurement error to magnify or even diverge, making it impossible to run for a long time

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