Research Of Non-cooperative Spacecraft Pose Estimation Based On The Binocular Vision Orthogonal Iteration Algorithm

With the deepening of exploring space,the space control technology is more and more attention.Vision measuring is the key technology of the short distance space control mission.Binocular stereo vision is an important method to realize the relative pose estimation of the non-cooperative target in space.The relative pose estimation of the non-cooperative target is needed in space control mission.This paper investigates the problems of the relative pose estimation for space control mission based on binocular vision which is in the stage of short and medium distance.The solar array tripod is the typical non-cooperative target in space.It can be regarded as the target to realize the relative pose estimation of the non-cooperative target based on the binocular vision measurement technology.The applicability and accuracy of the algorithm can be verified by ground simulation experimental system.The binocular vision measurement algorithm of the solar array tripod on non-cooperative target mainly consists of these parts:image acquisition,image pretreatment,feature point or line extraction,feature match,three-dimensional reconstruction,relative pose estimation.Images can be preprocessed by different noise reduction algorithm as median filter,Gaussian filter and region growth.The algorithm of region growth has the best effect by analyzing the experimental results.This paper extracts the data information of the target edge points by the contour-tracking algorithm.The high accuracy edge linear equations are fitted by the least square algorithm.On this basis,the sub-pixel feature point pixel coordinates can be extracted pertinently by simultaneous linear equations.In order to enhance the robustness and output accuracy of the algorithm,this paper researches the orthogonal iteration pose calculating algorithm based on multi feature points and the orthogonal iteration pose calculating algorithm based on line feature.Finally,the ground experimental simulation system can be structured.The space environment simulation system and the vision measurement system are contained in this system.The measurement software is designed by the software of the Matlab and C++.The algorithm of the binocular vision measurement system which is designed by this paper can be implemented.The spacecraft motions in space can be simulation by the air-floating platform.The pose measuring experimental under the different distances between the aircraft and the camera can be conducted by this platform.The experimental result verifies the availability of the method which is designed in this paper.