光学学报, 2016, 36 (11): 1112003, 网络出版: 2016-11-08
基于正交柱面成像的空间物体位姿精密测量
Position and Attitude Precision Measurement of Spatial Objects Based on Orthogonal Cylindrical Imaging
测量 位姿测量 正交柱面成像 扩展卡尔曼预测 线阵CCD 多目标识别 measurement pose measurement orthogonal cylindrical imaging extended Kalman prediction linear array CCD multi-target recognition
摘要
针对航空、航天等领域大型装备组装对接过程中的大尺度空间物体实时的位姿测量需求,对现有基于面阵成像器件摄影测量系统的二维测角功能进行分解与重构,提出一种基于正交柱面成像的位姿测量新方法。该方法充分发挥线阵CCD器件一维角度分辨率高、采集速度快、处理简便等优势,以正交柱面成像光路简化了相机结构,并采用非参数标定方法校正了柱面成像畸变。针对空间物体姿态测量的坐标同步问题,研究了基于扩展卡尔曼预测的实时识别跟踪方法,实现了多个目标并行测量,并通过基于Rodrigues参数的姿态解算模型实现了实时姿态测量。实验结果表明,该测量方法得到的空间点三维坐标测量精度优于0.5 mm,空间物体姿态解算在偏航、横滚、俯仰三个方向的最大测量误差分别为0.20°,0.12°,0.23°,具有较高的姿态测量精度。
Abstract
According to the large scale spatial objects real-time attitude measurement demand in the process of large equipment assembly and docking in the field of aviation and aerospace, a new method for attitude measurement is put forward based on orthogonal cylindrical imaging, disassembling and reconstructing the function of two-dimensional angle measurement which is provided by the existing array image sensor using in photogrammetric measurement system. The method makes full use of the advantages such as high one-dimensional angular resolution, fast acquisition speed and simple treatment of linear array CCD, and simplifies the camera structure with cylindrical orthogonal imaging optical path. A non-parametric calibration method is used to correct the aberration of the imaging cylindrical. In order to solve the coordinate synchronization problem during space object attitude measurement, the real-time recognition tracking method is researched based on extended Kalman prediction to realize parallel measurement of multiple targets, and then realizes the real-time attitude determination through attitude calculation model based on Rodrigues parameters. Experimental results show that space three-dimensional coordinate measurement accuracy is better than 0.5 mm, and the maximum measurement errors of space object pose solution in yaw, roll and pitch directions are 0.20°, 0.12° and 0.23° respectively. The proposed method has high accuracy of attitude measurement.
关瑞芬, 杨凌辉, 王丽君, 刘海庆, 邾继贵. 基于正交柱面成像的空间物体位姿精密测量[J]. 光学学报, 2016, 36(11): 1112003. Guan Ruifen, Yang Linghui, Wang Lijun, Liu Haiqing, Zhu Jigui. Position and Attitude Precision Measurement of Spatial Objects Based on Orthogonal Cylindrical Imaging[J]. Acta Optica Sinica, 2016, 36(11): 1112003.