星箭分离相对位姿摄影测量方法

提出一种基于视觉的星箭分离相对位姿测量方法。在相机内参数已知的情况下，将相机安装于运载火箭，并在卫星上固连不少于6个合作标志，利用相机对合作标志实时成像；基于单目位姿估计的基本原理，采用高效n点渗透与正交迭代结合的方式解算卫星与火箭之间的相对位姿关系。仿真实验结果、半实物仿真实验结果证明了所提测量方法的可行性和准确性。
A method of measuring the relative pose of satellite rocket separation based on vision was presented. For the camera parameters were known, the camera was installed on the carrier rocket, and more than six cooperation signs were fixed on the satellite. The cameras can take pictures of the cooperation signs in real time. Based on the basic principle of monocular vision pose estimation, the relative pose relationship between satellite and rocket was solved by combining efficient perspective n point with orthogonal iteration. The simulation experiment and the semi physical simulation experiment prove the feasibility and accuracy of the proposed method.