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Wang Ke, Chen Xiaomei, Han Xu. Research on pose measurement between two non-cooperative spacecrafts in close range based on concentric circles[J]. Opto-Electronic Engineering, 2018, 45(8): 180126. doi: 10.12086/oee.2018.180126
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Research on pose measurement between two non-cooperative spacecrafts in close range based on concentric circles
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Abstract
Conventional measurement of relative poses between two non-cooperative spacecrafts in close range is derived from the iteration of monocular vision or three-dimensional reconstruction of binocular vision, which introduces errors in the process of feature matching, and the timeliness and accuracy are poor. Regarding the issues above, this article tries to do some researches on measurement of relative poses between two non-cooperative spacecrafts in close range based on concentric circles. Here, 'concentric circles' means the spatial parallel but not coplanar positional relationship between docking ring and engine nozzle. Through the binocular vision measurement model, the angle adaptability and the applicability are improved. Then, the algorithm of this model is simulated, and the simulated results show that the accuracy of the algorithm can reach higher than 0.5°. -
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References
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Overview
Overview: With the frequent aerospace activities, the damaged and crashed spacecrafts are produced and become uncontrolled non-cooperative targets. They will take up a large number of orbital resources and threaten the safety of astronauts and other satellites. In order to ensure the space activities smoothly, the on-orbit service technology toward non-cooperative targets will become a serious problem that the space powers must face. Compared with cooperative target, the rendezvous and docking of non-cooperative target are different in close range. At this time, the service spacecraft cannot passively acquire the status information of the target spacecraft and the target spacecraft has no luminescent sign, which increases the difficulty of on-orbit service. Therefore, the interest in on-orbit servicing missions, together with the well-known challenge of approaching, has pushed the research towards techniques for non-cooperative targets. This paper attempts to do some researches on measurement of relative poses between two non-cooperative spacecrafts in close range based on concentric circles. Here, 'concentric circles' means the spatial parallel but not coplanar positional relationship between docking ring and engine nozzle. Without any artificial markings, the algorithm can solve the concentric circle size, the projected positions of the two center points, and the spatial distance between the two circular surfaces. The algorithm solves the problem by dividing the model into three different positional relationships to improve the model's angular adaptability. The algorithm can get the three-dimensional attitude angle by extending from the monocular model to the binocular model, which improves the reliability of the measurement and expands the scope of its application. Finally, simulation results show that this algorithm is feasible for super short-distance pose measurement.
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Wang Ke, Chen Xiaomei, Han Xu. Research on pose measurement between two non-cooperative spacecrafts in close range based on concentric circles[J]. Opto-Electronic Engineering, 2018, 45(8): 180126. doi: 10.12086/oee.2018.180126
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Figure 1.
The relationship among world coordinate system, camera coordinate system, image coordinate system and pixel coordinate system
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Figure 2.
The projection of the circular plane from the camera perspective
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Figure 3.
The projection relationship under the new coordinate system
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Figure 4.
Position measurement model on XZ plane
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Figure 5.
Position measurement model on YZ plane
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Figure 6.
The process of simulation
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Figure 7.
The imaging diagrams of left and right image planes. (a) The target satellite rotates 1° clockwise in the XZ plane relative to the tracking satellite; (b) The target satellite rotates 1° clockwise in the YZ plane relative to the tracking satellite
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Figure 8.
The error of the attitude angle when changing the baseline and the angle between optical axis and z axis. (a) The relationship between the error and the baseline; (b)The relationship between the error and the angle of optical axis
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Figure 9.
The error of the attitude angle by single and binocular measurements respectively when changing the angle of X axis or Y axis. (a) The relationship between the error and the angle around Y axis; (b) The relationship between the error and the angle around X axis
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Figure 10.
The error of the attitude angle when changing the angle of X axis and Y axis
