Convergent trinocular stereo measurement model for non-cooperative target

Abstract

During the final approach phase of the on-orbit service, high accuracy positional measurement of the non-cooperative target is critical to the success of the mission. In this paper, a convergent trinocular stereo vision measurement model is studied. First, trinocular stereo vision non-linear solving methods were investigated; then, the relationship between the structural parameter configuration of the stereo vision measurement model and the 3D coordinate measurement accuracy, as well as the relationship between the stereo vision camera position placement structure and the effective detection field of view of the measurement system is studied, providing a theoretical basis for the system configuration and optimal configuration design of the trinocular stereo vision camera; afterwards, the three cameras were designed with a baseline distance of 1.3m and the optical axis of each camera was tilted 18° towards the centre of the "Y" bracket, which could meet the continuous position measurement of large non-cooperative targets at close range with high accuracy. Finally, the simulation result of the motion of the non-cooperative target from 15.0 to 1.8m validates that the model has high accuracy and strong robustness in positional solution.