首页> 外文会议>International Conference on Space Information Technology; 20071115-17; Wuhan(CN) >Binocular Vision-based Relative Position and Attitude Measuring Method Between Spacecrafts
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Binocular Vision-based Relative Position and Attitude Measuring Method Between Spacecrafts

机译:基于双目视觉的航天器相对位置和姿态测量方法

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This paper introduces binocular vision measure principle, deduces the measure formulas of relative position and attitude between spacecrafts, models binocular vision measurement system, and presents a novel kind of measuring method of the relative position and attitude between spacecrafts. According to the variance model analysis of relative position and relative attitude, under condition of camera calibration, the location matching error of feature points is the major reason that arouses location measure error. Relative attitude is determined through the space location of feature points, therefore attitude error also ascribe eventually the location matching error of feature points. The simulation results show that the method can reach the need of measurement accuracy of the relative position and attitude for spacecraft, it is more suitable in on-board real-time computation.
机译:本文介绍了双目视觉测量原理,推导了航天器之间相对位置和姿态的测量公式,建立了双目视觉测量系统的模型,提出了一种新颖的航天器之间相对位置和姿态的测量方法。根据相对位置和相对姿态的方差模型分析,在摄像机标定的条件下,特征点的位置匹配误差是引起位置测量误差的主要原因。相对姿态是通过特征点的空间位置确定的,因此姿态误差最终也会归因于特征点的位置匹配误差。仿真结果表明,该方法可以满足航天器相对位置和姿态测量精度的要求,更适合于机载实时计算。

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