空间非合作目标角速度参数准确估计是确保服务卫星在轨抓捕、对接活动成功的关键,是空间在轨服务与空间碎片清理最重要的技术之一。对于近距离与中等距离下的非合作目标角速度估计,本文根据空间非合作目标与其几何投影点在各自坐标系中的运动规律和周期关系,提出一种基于像面投影几何的角速度估计方法,该方法仅使用单目相机且无需已知相对位姿便可求解目标的角速度,实现简单且结构轻量化。本文首先分析了非合作目标在三维空间及其投影点在像平面的运动规律,然后通过单目相机提取直线段检测(Line Segment Detector,LSD)直线特征进行特征的帧间匹配与检验,完成投影点的跟踪,得到投影点与自旋运动的周期关系,从而求解角速度,实验采用美国国家航空航天局(National Aeronautics and Space Administration,NASA)官网提供的The Solar & Heliospheric Observatory(SOHO)卫星在真实工业转台模拟单轴自旋运动。结果表明,本文提出的投影几何估计法能得到绝对误差范围0.11deg/s内,相对误差2.7％内的高精度角速度。
Accurate estimation for the angular velocity parameters of non-cooperative space targets is the key to ensuring the success of on-orbit capture and docking of servicing satellites,and is one of the most important technologies for space on-orbit services and space debris removal.In the case of short and medium distances,this paper proposes an angular velocity estimation method based on image plane projection geometry according to the motion theorem and periodic relationship between the spatial non-cooperative targets and their geometric projection points in the respective coordinate systems.The method only uses a monocular camera and does not need to know the relative pose to solve the angular velocity of the target,which is simple in implementation and lightweight in structure.In this paper,firstly,the motion theorem of the non-cooperative target in three-dimensional space and its projection point in the image plane is analyzed,and then the LSD line feature is extracted by the monocular camera for inter-frame matching and verification of the feature,and the tracking of the projection point is completed.The periodic relationship of the spin motion can be obtained to solve the angular velocity.The experiment uses the SOHO satellite provided by NASA's official website to simulate the uniaxial spin motion on the real industrial turntable.The results show that the projected geometric estimation method proposed in this paper can obtain high-precision angular velocity in the absolute error range of 0.11deg/s and the relative errorof 2.7%.
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