Attitude disturbance correction for binocular vision cameras in rendezvous and docking

摘要

Vision-based relative position and attitude measurement methods are widely used in rendezvous and docking (RVD). For example, a structured light vision-based sensor (the advanced video guidance sensor) was included as one of the primary proximity navigation sensors in the Orbital Express mission [1]. A monocular vision-based sensor (hand???eye camera mounted on the end effector and monitor camera mounted on the first joint of the robot arm) is used in Engineering Test Satellite No. 7 to locate cooperative targets [2]. In the Front-end Robotics Enabling Near-term Demonstration, a binocular vision-based sensor (camera head unit LIDAR) is used to locate noncooperative targets [3].