一种月面采样量的在轨自主测量方法

月面采样量的在轨自主测量是实现月面自主采样的必要环节。本文设计了一种月面采样装置，根据图像信息实现对月面采样量的在轨自主测量。针对图像中目标与背景灰度差较小、背景区域噪声较多的特点，采用了改进型最大类间方差法与连通标记自适应去噪方法，实现了采样区域较为准确的分割。针对单目相机无法直接获取采样区域尺寸的特点，利用已知物体尺寸进行在轨自主标定，结合图像中提取出的采样区域，完成了采样区域尺寸的计算，实现了采样量的在轨自主测量。试验结果表明，在轨自主测量结果与实际结果吻合，本文提出的在轨自主测量方法有效。

On-orbit Autonomous Measuring Method of Lunar Sampling Quantity

On-orbit autonomous measurement of lunar sampling quantity is a necessary part of autonomous lunar sampling. A kind of lunar sampling device is designed and lunar sampling quantity is automatically measured by image information. According to the feature of small difference between background gray level and targets gray level and the feature of lots of noises existing in the image background, improved maximum between-cluster variance algorithm and connected labeling adaptive de-noising algorithm are proposed to segment sampling region exactly in image. In order to calculate sampling region size and sampling quantity, on-orbit self-calibration using known object size is utilized, which solves the problem of unable obtaining sampling region size directly with just one camera. Testing result shows that on-orbit autonomous measuring results and actual results are coincident. The on-orbit autonomous measuring method is effective, and provides reference for future sampling mission on extraterrestrial celestial bodies.