空间飞行器交会对接相对位置和姿态的在轨自检校光学成像测量算法

空间飞行器交会对接的最后逼近阶段，通常采用光学成像敏感器来测量跟踪飞行器和目标飞行器之间的相对位置和姿态。考虑到飞行器在轨运行期间，CCD相机受空间环境的影响，其内参数会发生变化的实际情况，提出了一种单CCD在轨自检校光学测量方案，其主要特点是飞行器在执行测量任务时，可同时进行相机内参数的自检校。首先根据严格的中心投影共线条件方程，推导出目标飞行器光学特征点坐标和对应的像点坐标与内参数及相对位置和姿态的严格解析关系；然后建立了内参数及相对位置和姿态的解析表达式；提出了目标航天器上光学特征点的布设要求。通过严格的理论分析和数值仿真，单CCD在轨自检校光学测量方案具有可靠性高、精度高、算法易实现、适应能力强等优点。

The Optical Measurement of Self-Calibration in Orbit for Spacecraft Rendezvous and Docking

In the final approaching stage for spacecraft rendezvous and docking, the optical imaging sensors are generally used to trace the relative position and pose between spacecraft and the target. Considering the interior parameters of CCD camera will change under the in fluence of spatial environment when spacecraft rotates in the orbit, the paper advances an optical measurement method of single CCD self-calibration in orbit whose character is mainly that camera interior parameters and lens radial distortion can be selfcalibrated when spacecraft carries out the surveying task. At first, in the paper the rigorous analytical relations among the feature point coordinates of the target spacecraft, the corresponding image point coordinate, interior parameters, relative position and pose are induced according to rigorous collinear equation of the central projection. Then the analytical expressions of interior parameters and relative position and pose are built. Finally, the layout conditions of optical feature points in the target spacecraft are put forward. By way of rigorous theoretical analysis and numerical simulation, the optical measurement method of single CCD self-calibration in orbit has the merits of high-reliability, high-accuracy, easy-algorithm and strong-applicability.