鉴于实时高精度航天器位姿测量不仅是航天器实时监控和跟踪的重要技术保证, 同时也是实时调整和补偿航天器姿态的主要依据, 提出一种基于单目视觉的航天器实时位姿测量方法, 利用高精度旋转平台几何摄像机的方式对被测目标进行位姿解算。该方法不需要对被测目标进行几何约束, 同时也不用进行转站测量, 因而可以进行动态实时的在线位姿检测。航天器位姿实验结果表明: 该单目视觉测量方法姿态测量误差小于0.05°, 位置测量误差小于0.02 m, 满足实际工程0.1°和0.05 m的精度需求。

In view of real-time high-precision spacecraft pose measurement is not only an important technical assurance of real-time monitoring and tracking of spacecraft, but also main basis for real-time adjustment and compensation of spacecraft attitude, this paper propose a monocular vision-based real-time pose measurement method, which utilizes a high precision rotating platform geometric camera to carry out pose solution to the measured object. This method does not need to geometrically constrain measured object, and does not need to carry on measurement of station, so it can carry on dynamic real-time on-line pose detection. Experimental results show that attitude measurement error of monocular vision measurement is less than 0.05° and position measurement error is less than 0.02 m, which satisfies accuracy requirements of practical engineering of 0.1 ° and 0.05 m.