| 航天器自主交会对接的高精度目标定位方法 |
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| 引用本文： | 张莹瑾,秦世引,胡晓惠.航天器自主交会对接的高精度目标定位方法[J].宇航学报,2014,35(12):1430-1436. |
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| 作者姓名： | 张莹瑾 秦世引 胡晓惠 |
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| 作者单位： | 北京航空航天大学自动化科学与电气工程学院，北京 100191 |
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| 基金项目： | 国家自然科学基金（60875072，61273350） |
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| 摘 要： | 根据航天器自主式交会对接的实际应用背景和技术需求，针对交会对接过程中所要求的高精度、实时性和强抗扰的技术指标，在合作目标特性分析的基础上，将高斯曲面拟合与双线性插值相结合，提出了一种高精度的合作目标定位方法。首先根据目标图像的灰度分布进行双线性插值和高斯曲面拟合，在此过程中可同时利用目标原有像素和插值点的亚像素信息，使拟合曲面各幅值点的坐标精度达到亚像素级，以确定目标的中心位置。仿真图像和实拍图像的试验结果表明，此定位方法具有亚像素级的定位精度，其总体定位误差可达到1/20个像素左右，并能满足实时性要求，可以在航天器交会对接与空间遥操作等方面的应用中发挥重要作用。
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| 关 键 词： | 合作目标识别 目标定位 高斯曲面拟合 自主式交会对接 |
| 收稿时间： | 2013-12-09 |
A High Accuracy Target Positioning Method for Autonomous Rendezvous and Docking Between Spacecrafts |
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| ZHANG Ying jin,QIN Shi yin,HU Xiao hui.A High Accuracy Target Positioning Method for Autonomous Rendezvous and Docking Between Spacecrafts[J].Journal of Astronautics,2014,35(12):1430-1436. |
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| Authors: | ZHANG Ying jin QIN Shi yin HU Xiao hui |
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| Affiliation: | School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China |
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| Abstract: | According to the practical background and technical requirements for autonomous rendezvous and docking (ARVD), a high accuracy target positioning method is proposed by combining Gaussian surface fitting with bilinear interpolation in view of the performance indices such as real-time and high accuracy as well as strong anti-disturbance in the process of ARVD. The analysis of target gray-level distribution is employed to carry out the bilinear interpolation and the Gaussian surface fitting in which both real target pixels and interpolated sub-pixel points can be used so that the positioning accuracy can achieve sub-pixel level for the estimation of target center position. A series of experimental results with both simulation images and real images demonstrate that the proposed method has advantages of both excellent positioning accuracy and real-time performance in that the overall positioning error can reach approximately 1/20 pixels. Therefore, the proposed method may be applied in the ARVD, space teleoperation and other relative motion fields to play a important role in engineering practices. |
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| Keywords: | Cooperative target recognition Target positioning Gaussian surface fitting Autonomous rendezvous and docking (ARVD) |
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