Research On The 3D Information Measurement Experimental Device Of Flexible Rope Nets And The Reconstruction Of Relevant Point Trajectories

At present,many domestic researchers have carried out a lot of research on the space flynet capture technology used to remove space debris,but most of them are about the dynamic simulation of rope net,how to obtain data from ground simulation test to verify the reliability of debris removal simulator is also worth exploring,in view of the research background,mainly with flexible rope net as the research object,the 3D trajectory reconstruction process in the flight test of the net,and put forward a 3D information measurement device and 3D trajectory reconstruction method based on the two-dimensional system.The obtained data can be used to validate the simulator.First of all,for the complex environment of flexible flynet shooting,a flexible and adaptable 3D measurement experimental device was set up,which was used for image acquisition.After using Zhang Zhengyou calibration method to double-target the camera,correct the image through internal parameter distortion,and then use the external parameter and Bouguet algorithm to correct the image stereocorration,to achieve the two-eye image co-face and line alignment,and finally through the median filtering and histogram equalization to complete the image pre-processing work,for the follow-up stereoscopic matching algorithm to lay a foundation.In the three-dimensional matching algorithm,the optimization algorithm based on Harris angle point is proposed,the scale inverse factor is introduced,the grayscale difference between pixels in the target point 8 field is used for initial screening,and sub-pixel-scale corner points are extracted,and then Harris feature description sub-vector is generated,the nearest neighbor search method is used to match its vector,and the maximum distance value or minimum distance value in all matching distances is multiplied by factor k as the initial filter matching point pair.Finally,the RANSAC algorithm is used to complete the mismatch filter,and the traditional SIFT,SURF and Harris algorithms are compared experimentally.Finally,based on the averse and triangulation method to achieve the spatial point threedimensional reconstruction of flexible rope network,based on the front and rear frame pixel point coordinate difference to achieve three-dimensional reconstruction of the timing,and in motion of the rope network analysis,to obtain the speed and acceleration value,and then applied to the ground in the space flynet flight simulation test,and its motion trajectory analysis.The experimental results show that compared with the traditional SIFT,SURF and Harris methods,the accuracy and efficiency of the detection feature points are improved by the optimization algorithm based on Harris calculator,and the implementation and effectiveness of the whole three-dimensional trajectory reconstruction system are demonstrated by the three-dimensional reconstruction results map and the motion trajectory map under the static position of the flexible rope net.