CAJ | 학술논문

对航天器间相对位姿的光学测量问题进行了研究,提出了一种新的单目视觉测量算法--相似迭代算法.该算法根据三角形相似原理提出了一种新的深度迭代机制,并通过引入深度变量,将求解2D-3D问题转化为迭代求解3D-3D问题.对数值仿真与两种现有的测量算法进行了比较.仿真结果表明,该算法具有精度高、抗噪声能力强和实时性较好等优点,可以应用于航天器间相对位姿测量等任务.
대항천기간상대위자적광학측량문제진행료연구,제출료일충신적단목시각측량산법--상사질대산법.해산법근거삼각형상사원리제출료일충신적심도질대궤제,병통과인입심도변량,장구해2D-3D문제전화위질대구해3D-3D문제.대수치방진여량충현유적측량산법진행료비교.방진결과표명,해산법구유정도고、항조성능력강화실시성교호등우점,가이응용우항천기간상대위자측량등임무.
The optical measurement problem of the relative position and attitude between spacecrafts is investigated, and a novel monocular vision-based relative position and attitude measurement algorithm named as the Similar Iteration algorithm is presented. This algorithm mainly characterizes a new depth iterative mechanism from the principle of the triangular similitude, and thus the 2D-3D pose estimation problem is translated into iteratively solving the 3D-3D problem. Simulation results show that the Similar Iteration algorithm outtperforms two other existing algorithms in the accuracy, the resistance against image noise and exhibits good real-time performance. The proposed approach is applicable for measuring the relative position and attitude between spacecrafts.