Pose Self-Measurement of Noncooperative Spacecraft Based on Solar Panel Triangle Structure
Joint Authors
Source
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-6, 6 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-01-26
Country of Publication
Egypt
No. of Pages
6
Main Subjects
Abstract EN
Aiming at the recognition and location of noncooperative spacecraft, this paper presents a monocular vision pose measurement method based on solar triangle structure.
First of all, an autonomous recognition algorithm of feature structure based on sliding window Hough transformation (SWHT) and inscribed circle of a triangle is proposed, and the image coordinates of feature points on the triangle can be obtained relying on this algorithm, combined with the P4P algorithm and the structure of spacecraft, calculating the relative pose of target expressed by rotation and translation matrix.
The whole algorithm can be loaded into the prewritten onboard program, which will get the autocomplete feature structure extraction and relative pose measurement without human intervention, and this method does not need to mount any markers on the target.
Then compare the measured values with the accurate value of the laser tracker, so that a conclusion can be drawn that the maximum position error is lower than 5% and the rotation error is lower than 4%, which meets the requirements of noncooperative spacecraft’s pose measurement for observations, tracking, and docking in the final rendezvous phase.
American Psychological Association (APA)
Song, Jingzhou& Cao, Caixiu. 2015. Pose Self-Measurement of Noncooperative Spacecraft Based on Solar Panel Triangle Structure. Journal of Robotics،Vol. 2015, no. 2015, pp.1-6.
https://search.emarefa.net/detail/BIM-1070028
Modern Language Association (MLA)
Song, Jingzhou& Cao, Caixiu. Pose Self-Measurement of Noncooperative Spacecraft Based on Solar Panel Triangle Structure. Journal of Robotics No. 2015 (2015), pp.1-6.
https://search.emarefa.net/detail/BIM-1070028
American Medical Association (AMA)
Song, Jingzhou& Cao, Caixiu. Pose Self-Measurement of Noncooperative Spacecraft Based on Solar Panel Triangle Structure. Journal of Robotics. 2015. Vol. 2015, no. 2015, pp.1-6.
https://search.emarefa.net/detail/BIM-1070028
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1070028