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Chinese Journal of Lasers, Volume. 49, Issue 17, 1704003(2022)

Binocular Vision Position and Attitude Measurement for Key Features of Non-Cooperative Spacecraft

Liang Hu1,2,3、*, Huixian Duan1,3, Haodong Pei1,3、**, Dianqi Sun1,2,3, and An Shu1,3
Author Affiliations
  • 1Key Laboratory of Intelligent Infrared Perception, Chinese Academy of Sciences, Shanghai 200083, China
  • 2University of Chinese Academy of Sciences, Beijing 100049, China
  • 3Shanghai Institute of Technical Physics, Chinese Academy of Sciences, Shanghai 200083, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (11)
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    References (16)
    Cited By (3)
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    Figures & Tables(11)
    Converging binocular stereo vision measurement model

    Fig. 1. Converging binocular stereo vision measurement model

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    Result images of the candidate ellipse of arc segment combination. (a) Arc-support segment method; (b) improved method

    Fig. 2. Result images of the candidate ellipse of arc segment combination. (a) Arc-support segment method; (b) improved method

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    Result image of the outer docking ring of non-cooperative target

    Fig. 3. Result image of the outer docking ring of non-cooperative target

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    Result images of heat shield reticles detection. (a) Proposed method; (b) Hough transform

    Fig. 4. Result images of heat shield reticles detection. (a) Proposed method; (b) Hough transform

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    Schematic diagram of the coordinate system. (a) Measurement coordinate system and camera coordinate system; (b) target coordinate system

    Fig. 5. Schematic diagram of the coordinate system. (a) Measurement coordinate system and camera coordinate system; (b) target coordinate system

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    Schematic diagram of position and attitude measurement process

    Fig. 6. Schematic diagram of position and attitude measurement process

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    Absolute and relative position and attitude during the approach. (a) Absolute position; (b) absolute angle; (c) relative position; (d) relative angle

    Fig. 7. Absolute and relative position and attitude during the approach. (a) Absolute position; (b) absolute angle; (c) relative position; (d) relative angle

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    • Table 1. Analysis of the results of two ellipse detection methods

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      Table 1. Analysis of the results of two ellipse detection methods

      MethodNumber of candidate ellipsesVerification time /sEllipse extraction time /s
      Arc-support segment320.61200.9530
      Improved120.07200.2430

    • Table 2. Position and attitude measurement results when the satellite model rotates around the X axis

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      Table 2. Position and attitude measurement results when the satellite model rotates around the X axis

      No.x /cmy /cmz /cmθx/(°)θy/(°)θz/(°)
      1402.467－7.6669.317－42.079－4.387－0.002
      2402.557－7.7119.329－44.189－4.4390.245
      3402.539－7.7579.357－46.181－4.4290.600
      4402.506－7.7969.386－48.096－4.4430.904
      5402.655－7.8599.423－50.116－4.4571.204
      6402.560－7.8909.450－52.261－4.4271.463
      7402.634－7.9409.493－54.289－4.4151.737
      8402.828－8.0029.515－56.374－4.3431.989
      9402.852－8.0399.618－58.292－4.2442.228

    • Table 3. Position and attitude measurement results when the satellite model rotates around the Z axis

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      Table 3. Position and attitude measurement results when the satellite model rotates around the Z axis

      No.x /cmy /cmz /cmθx/(°)θy/(°)θz/(°)
      1400.005－6.84210.015－167.6474.373－1.906
      2399.276－6.84410.066－167.8194.105－0.429
      3398.506－6.78710.062－167.6293.3570.876
      4398.086－6.76110.088－167.3663.1432.160
      5398.025－6.81810.089－166.7202.8833.436
      6397.737－6.79610.125－166.4042.6674.599
      7397.432－6.78710.141－166.1092.4515.747
      8397.081－6.75610.181－165.7542.2546.898
      9396.699－6.69710.226－166.1002.0547.929
      10396.249－6.64710.282－166.1751.9179.047

    • Table 4. Position and attitude measurement results when the satellite model rotates around the Y axis

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      Table 4. Position and attitude measurement results when the satellite model rotates around the Y axis

      No.x /cmy /cmz /cmθx/(°)θy/(°)θz/(°)
      1399.424－6.89110.124－167.7793.292－2.318
      2399.672－6.83810.169－167.4692.026－2.475
      3399.834－6.82110.223－167.2830.956－2.602
      4399.855－6.82610.282－167.521－0.366－2.532
      5399.868－6.83310.349－167.407－1.521－2.515
      6399.811－6.84310.424－167.648－2.515－2.399
      7399.769－6.85810.508－167.335－3.795－2.249
      8399.705－6.87610.589－167.637－5.048－2.181
      9399.647－6.88610.675－167.512－6.221－1.903
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    Liang Hu, Huixian Duan, Haodong Pei, Dianqi Sun, An Shu. Binocular Vision Position and Attitude Measurement for Key Features of Non-Cooperative Spacecraft[J]. Chinese Journal of Lasers, 2022, 49(17): 1704003

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    Paper Information

    Category: Measurement and metrology

    Received: Dec. 1, 2021

    Accepted: Dec. 27, 2021

    Published Online: Aug. 9, 2022

    The Author Email: Hu Liang (ncuhubery@163.com), Pei Haodong (peihaodong@sina.com)

    DOI:10.3788/CJL202249.1704003

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology