CAJ | 학술논문

针对因缺少空间非合作大目标的全局特征而难以实现相对位姿测量的问题，提出利用点状光源与单目光学相机组成点结构光视觉测量系统进行特征重构与位姿测量的方法。以非合作大目标上尺寸未知的局部矩形特征为测量对象，首先建立点结构光视觉测量系统相对位姿测量模型；接着利用相对约束关系给出特征重构方法并获得隐性特征点；然后利用特征点计算测量系统与非合作大目标之间的相对转移矩阵得到相对位置和姿态。通过数字仿真校验该方法的有效性并对测量误差因素进行分析，仿真结果表明该测量方法是有效的。
침대인결소공간비합작대목표적전국특정이난이실현상대위자측량적문제，제출이용점상광원여단목광학상궤조성점결구광시각측량계통진행특정중구여위자측량적방법。이비합작대목표상척촌미지적국부구형특정위측량대상，수선건립점결구광시각측량계통상대위자측량모형；접착이용상대약속관계급출특정중구방법병획득은성특정점；연후이용특정점계산측량계통여비합작대목표지간적상대전이구진득도상대위치화자태。통과수자방진교험해방법적유효성병대측량오차인소진행분석，방진결과표명해측량방법시유효적。
A vision system of space robot can not observe a whole feature image of a large non-cooperative target to measure the relative position and attitude. To overcome this problem,a point structured light vision system composed by a point structured light and a single camera was established to determine the relative pose. An unknown size partial rectangular framework of the target was chosen as the measurement obj ect. Firstly, the measurement model of the point structured light vision system was built and the relationships were presented. Secondly, according to the intrinsic constraint of the point structured light vision system, a whole feature was reconstructed and four feature points were calculated. Thirdly,the relative transform matrix between the measurement system and the target was computed by the four feature points.And the relative position and attitude was derived from the transform matrix. Finally, numerical simulations were studied to verify the method and the measurement errors were analysed.The results show that this method is effective.