Pose measurement model of space cooperative target capture based on zoom vision system

Naiming Qi,Junren Chen,Yubo Guo,Qi Xia,Ziran Ma

doi:10.1177/1687814016655954

Naiming Qi, Junren Chen + Show 3 more

Open Access

https://doi.org/10.1177/1687814016655954

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Abstract

In view of the mission of the cooperative target capture with the space manipulator, this article proposes to establish pose measurement model of the space cooperative target capture based on thick lens model for the first time. First, a ground simulation system is established for the cooperative target capture with the space manipulator based on the zoom vision system, coordinate system is defined, and pose calculation process is given. Then, space coordinate measurement model and pose calculation model are established for the system. Finally, the simulation experiments are conducted and the results validate the algorithm model and the high accuracy of measurement.

Highlights

Target pose measurement has become a research hotspot[1,2,3] and is potentially useful in more fields.[4,5,6,7,8,9] As the space mission becomes more complicated and diversified, the computer vision–based space manipulator system is more applied to space missions.[10,11,12,13,14] it is difficult for traditional fixedfocus camera to maintain a high image resolution in the whole motion process of the space manipulator and cooperative target,[15,16,17] and the measurement accuracy will be affected
Pose measurement model is established for the space cooperative target capture based on the zoom vision system, and the simulation is conducted to validate the model
This article proposes a pose measurement model for the cooperative target capture with the space manipulator based on the zoom vision system

Summary

Introduction

Target pose measurement has become a research hotspot[1,2,3] and is potentially useful in more fields.[4,5,6,7,8,9] As the space mission becomes more complicated and diversified, the computer vision–based space manipulator system is more applied to space missions.[10,11,12,13,14] it is difficult for traditional fixedfocus camera to maintain a high image resolution in the whole motion process of the space manipulator and cooperative target,[15,16,17] and the measurement accuracy will be affected . Pose measurement model is established for the space cooperative target capture based on the zoom vision system, and the simulation is conducted to validate the model.

Results

Conclusion