旋转失效卫星的运动观测及消旋接触方案设计

以旋转失效卫星的消旋为研究背景，提出一种双重光流约束的特征点运动跟踪识别方法。该方法利用双目视觉，可实现对非合作旋转失效卫星的运动观测，并为机械臂消旋操作提供接触方案。首先，跟踪识别序列图像中稳定存在的特征点并记录其轨迹，采用频域分析的方法检测特征点轨迹的变化频率，从而获取目标旋转角速度，通过地面物理实验，验证所提目标运动观测的有效性；随后，利用特征点轨迹分析目标的运动包络与适宜接触区域，并根据目标运动特性和接触消旋的时间约束，给出完成消旋的接触强度约束，继而得到机械臂的操作性能需求，为接触式消旋的工程实践提供参考。

Motion Observation and Contact Scheme Design for Detumbling Rotating Failed Satellites

Based on the detumbling of a rotating failed satellite, a feature point motion tracking recognition method with dual optical flow constraints is proposed. By using binocular vision, this method can observe the motion of the non cooperative rotating failed satellite, and provide a contact scheme for the detumbling operation of the manipulator. Firstly, the feature points that can be stably tracked in the sequence images are identified, and their trajectories are recorded. The change frequency of the feature point trajectory is detected by the frequency domain analysis method, so as to obtain the target rotation angular velocity. The effectiveness of the proposed target motion observation method is verified by the ground physical experiments. Then, according to the trajectories of the tracked feature points, the motion envelope of the target and the appropriate contact area of the target surface are analyzed. According to the motion characteristics of the target and the time constraints for the detumbling operation, the contact strength constraints to complete the detumbling are given, and then the operational performance requirements of the manipulator are obtained, which provides a reference for the engineering application of contact detumbling.