GEO非合作目标超近距相对位姿视觉测量

提出一种基于几何特征综合匹配的双目超近距相对位姿视觉测量方法。首先，将失效卫星的矩形太阳帆板作为几何特征，采用综合匹配方法实现了双目图像的高精度匹配，随后基于几何特征指标参数判别和ROI检测方法，实现了卫星太阳帆板特征点组的识别与提取，在此基础上，进一步建立了目标坐标系，通过三维重建完成了超近距阶段失效卫星的相对位姿高精度解算。最后建立了高精度双目视觉超近距相对测量实验系统，结合所提出的综合匹配算法和相对位姿解算方法，完成了动态非合作目标的相对位姿测量实验，实验结果说明所提出的方法具有较好的实时性和较高的精度。

Relative Pose Determination for GEO Non Cooperative Spacecraft Under the Ultra Close Distance

In this work, the binocular vision determination strategy based on image matching is developed for non-cooperative spacecraft final approach and capture. The measurement target is rectangular solar panel of failure spacecraft. Firstly, a comprehensive feature point matching method is proposed to improve the matching accuracy. Secondly, by use of the feature point extraction method based on geometric index threshold and ROI detection, the feature points of solar panel can be identified, then a target coordinate system is established based on the rectangular configuration; on the basis, the relative pose determination algorithm in ultra-close distance is developed. Finally, the ground-based binocular vision system with high accuracy is established to complete the dynamic relative position and attitude measurement for non-cooperative target. The simulation results demonstrate the relative pose determination method with real-time performance and high accuracy.