基于双目视觉的返回舱着陆横向速度测量

通过分析返回舱在着陆时所具有的水平速度也可能对着陆安全构成威胁的事实，论述了为返回舱增加横向缓冲装置的必要性，由此提出亟需解决的问题——在返回舱着陆下降过程中测量其水平运动速度。提出了全新概念的以视觉图像为唯一信息来源的返回舱水平速度测量方法，仅以双目摄像机系统作为传感器，避免了对返回舱原有传感器系统的改造。通过对着陆区域地面图像的采集和在线处理，利用双目交会测量原理得到返回舱当前的大地坐标和姿态。仿真实验证明，方法简单易行，测量结果可靠。

Horizontal Landing Velocity Measurement of Return Cabin Based on Binocular Vision

In this paper, the fact that the horizontal landing velocity could threat the safe of the return cabin is analyzed, and the necessity of adding horizontal cushion installation is proposed, thus, one of the most important problems to be considered is measuring the horizontal landing velocity of the return cabin when it is descending. The new way of horizontal landing velocity measurement of return cabin based on binocular vision is presented, which takes the two cameras as the only sensors to avoid the alteration of the mature sensor system. By taking views of the landing ground and the bi - camera meeting measurement, the current coordination and pose of return cabin can be solved online. The simulation experiment shows that the new method is easy to be carried out and the measurement results can be relied upon.