Star-like sensitive indoor relative pose measurement system and working method thereof

Abstract

The invention discloses a star-like sensitive indoor relative pose measurement system and a working method thereof, relates to the field of pose estimation of a planar to-be-measured object, can perform pose measurement only by simulating a star map and a monocular camera on the to-be-measured object, and is convenient to use and stable in output. The system comprises an object to be measured, a star map and a processor, wherein the processor specifically comprises a graph acquisition module, a star point extraction module, a star point matching module, a navigation star library and a pose estimation module. The method comprises the following steps: acquiring a star map image at the current moment; extracting star points in the star map image, and estimating the pixel coordinates of the star points; generating mode vectors of star points according to the pixel coordinates, and matching the mode vectors with known star points in a star library; and calculating the position and attitudeof the to-be-measured object according to the pixel coordinates and world coordinates of the successfully matched star points. The method is suitable for spacecraft on-orbit technology ground verification.

Description

technical field [0001] The invention relates to the field of pose estimation of a plane object to be measured, in particular to a star-like indoor relative pose measurement system and a working method thereof. Background technique [0002] The object to be tested is a full-physics simulation device used to study the spacecraft attitude control system. By approximately simulating the microgravity and zero-friction space environment in outer space, it can verify space-related technologies, thereby reducing the risk and cost of space experiments. In the practical application of air flotation experiment technology, the high-precision pose measurement of the object to be tested is the basis of related experiments. [0003] The existing pose measurement methods mainly include motion capture system, UWB-based radio frequency system, ultrasonic positioning system, etc., but the above systems have certain limitations. The motion capture system has high precision, but it is expensive...

AI Technical Summary

Problems solved by technology

The motion capture system has high precision, but it is expensive, and there is an effective working range. After the object to be measured exceeds the range, the measurement accuracy will drop significantly, and increasing the effective working range requires adding corresponding system accessories, and the cost will further increase; Ultrasonic positioning system It can achieve centimeter-level positioning accuracy, and the cost is low, but it is susceptible to noise interference. When the object to be measured performs air jet operation, the positioning accuracy will be greatly reduced or even unavailable; the UWB system is not susceptible to environmental interference, and the positioning result is relatively stable, but the overall The accuracy is low, and it is difficult to meet the relevant experimental requirements for close-range operation

[0004] Therefore, as a full-physics simulation method, the planar object to be measured is an important part of the ground verification of spacecraft in-orbit technology, but it is limited by indoor positioning technology.

At present, there is still a lack of fully autonomous high-precision pose measurement methods in the existing technology

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