Aiming at the recognition and location of non cooperative spacecraft, this paper presents a monocular vision pose measurement\nmethod based on solar triangle structure. First of all, an autonomous recognition algorithm of feature structure based on sliding\nwindow Hough transformation (SWHT) and inscribed circle of a triangle is proposed, and the image coordinates of feature points\non the triangle can be obtained relying on this algorithm, combined with the P4P algorithm and the structure of spacecraft,\ncalculating the relative pose of target expressed by rotation and translation matrix. The whole algorithm can be loaded into the\nprewritten on board program, which will get the auto complete feature structure extraction and relative pose measurement without\nhuman intervention, and this method does not need to mount any markers on the target. Then compare the measured values with\nthe accurate value of the laser tracker, so that a conclusion can be drawn that the maximum position error is lower than 5% and the\nrotation error is lower than 4%, which meets the requirements of non cooperative spacecraft�s pose measurement for observations,\ntracking, and docking in the final rendezvous phase.
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