为了解决三线阵CCD空间目标位姿测量的精度问题,提出一种高精度位姿解算方法。该算法将所有线阵CCD相机的坐标系进行统一化处理。通过建立一个新的误差评价函数,运用改进的正交迭代算法求解位姿参数,并进行非线性优化。仿真和实际测量结果表明,该算法有效避免了因数据恶化或初值选取等因素造成的不收敛或收敛差的问题。与传统算法相比,该算法测量精度和抗噪特性均得到有效改善,计算效率提高了4.6倍,实际测量的6个自由度的最大相对误差为0.71%。该测量系统可实现对空间目标的高精度实时测量,且具有安装方便、应用范围广等优点。

In order to solve the accuracy problem of pose measurement of space target based on three linear array CCD, we propose a high precision pose calculation method. This algorithm integrates all linear array CCD camera coordinate systems. The improved orthogonal iterative algorithm is used to solve the pose parameters by establishing a new error evaluation function, and the nonlinear optimization is performed subsequently. Simulation and measurement results show that the proposed algorithm effectively avoids the problem of no-convergence or poor convergence caused by data deterioration or initial value selection. Compared with the traditional algorithm, both the measurement accuracy and noise immunity of the proposed algorithm are effectively improved and the computational efficiency is improved by 4.6 times. The maximum relative error of six degree of freedom is 0.71% in actual measurement. The proposed system can realize high precision and real-time measurement of spatial target, which has the advantages of convenient installation and wide applications.