本文提出一种基于立体视觉的空间非合作航天器相对位姿自主测量方法, 用以解决在轨捕获中非合作航天器的相对位姿测量问题。该方法以航天器本体和星箭对接环作为识别特征, 识别过程无需人员参与; 同时, 提出一种基于空间几何约束的特征匹配方法, 运用空间几何约束引导匹配, 在完成匹配的同时可直接获取特征的三维信息, 实现特征匹配与重构的一体化; 最后, 利用空间向量对非合作航天器的相对位姿参数进行解算, 充分利用冗余信息, 以提高解算精度。实验结果表明, 在航天器本体尺寸为280 mm、相对距离为2 m的条件下, 本文方法的姿态测量误差小于1.5°, 位置测量误差小于4 mm, 能够满足空间非合作航天器在轨捕获的相对位姿测量要求。

To solve measurement problem of relative attitude and position for non-cooperative spacecraft in on-orbit capture, an autonomous measuring method for relative attitude and position of spatial non-cooperative spacecraft based on stereo vision was proposed. Main body of spacecraft and satellite-rocket docking ring were taken as recognition features in this method, and no staff was needed to participate in the recognition process; meanwhile, a feature matching method based on spatial geometry constraint was introduced. With the guidance of spatial geometry constraint, three-dimensional information of features was directly obtained at the time of completing matching to realize integration of feature matching and reconstitution; finally, the relative attitude and position of spacecraft were calculated according to spatial vectors, and calculation accuracy was improved via fully utilizing redundant information. Experimental result shows on condition of main body of spacecraft at 280 mm and relative distance at 2 m, attitude and position measurement error of the proposed method are less than 1.5° and 4 mm respectively, satisfying on-orbit capture measurement requirements of relative attitude and position for spatial non-cooperative spacecraft.