Vision measurement system for non-cooperative target relative navigation simulation verification, and method thereof

Abstract

The invention discloses a vision measurement system for non-cooperative target relative navigation simulation verification, and a method thereof. The system includes a physical simulation module, an analogue simulation module and a visual relative navigation module; the physical simulation module and the visual relative navigation module form a semi-physical semi-simulation verification subsystem,and the visual relative navigation module and the analogue simulation module form a full-simulation verification subsystem; and the physical simulation module and the analogue simulation module construct a non-cooperative target, and the visual relative navigation module realizes the perception, feature recognition, feature extraction, feature matching, state measurement and parameter identification of the non-cooperative target by a binocular camera.

Description

technical field [0001] The invention relates to the research fields of spacecraft relative navigation, on-orbit target perception, parameter measurement and identification, and spacecraft vision, especially a visual measurement system and method for non-cooperative target relative navigation simulation verification. Background technique [0002] In recent years, with the development of non-cooperative target on-orbit service technology, various aerospace powers have proposed the concept and demonstration of on-orbit service, among which relative navigation and measurement for non-cooperative targets is one of the key technologies. [0003] In the long distance, due to the influence of light and the number of target features, radar, laser range finder, GPS, star sensor or far-field camera are generally used for relative navigation; Position, attitude, configuration and quality feature information, binocular stereo vision cameras have been widely used. In short-range relative...

AI Technical Summary

Problems solved by technology

In short-range relative navigation, binocular vision is used to measure non-cooperative targets, which mainly involves modules such as image acquisition, camera calibration, feature extraction, stereo matching, and 3D reconstruction. Currently, there are relatively many studies on each module: image There are many ways to obtain it, mainly determined by the specific occasion and purpose; 3D reconstruction belongs to the post-processing of depth information, which is to restore the complete information of the visual surface of the scene; camera calibration has been well solved, and there are many methods that can be used; feature extraction At present, there is no commonly used theory, which leads to the diversity of matching features in stereo vision research. Therefore, stereo matching is the most important and difficult problem in stereo vision, and it is also the core of stereo vision.

To sum up, there have been a lot of algorithm researches on stereo vision measurement based on binocular cameras, but in aerospace engineering, especially in my country's aerospace engineering, short-distance relative navigation and measurement of non-cooperative targets based on binocular vision Technical research has not yet been in-depth, and research needs to be carried out from the aspects of algorithm, system design, ground test, on-orbit verification, and on-orbit product design

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