关键词: 结构光, 非合作目标, 在轨服务, 目标识别, 位姿测量

Abstract: Spatial non-cooperative target position and posture measurement is the premise of space maintenance on orbit servicing. In this paper, a spatial non-cooperative target vision measurement method based on structured light is proposed in view of the application requirement that space manipulator automatically captures space carriers. It consists of two sets of double line structured light measuring devices, using the docking ring which commonly exists on space carriers as target. According to the common characteristics of the docking ring, the combination of the linear feature and the point feature is chosen as the solution features of the relative position. The relative pose relationship between the manipulator coordinate system and the docking ring coordinate system is obtained based on the straight line feature for the circular plane normal vector and the point feature for center coordinates of the circle. Robust recognition of target lines on different illumination conditions is obtained based on multiple geometric constraints. The demonstration and verification experiment system is established, and the experimental results are analyzed on the basis of a large number of demonstration experiments.

Key words: structured light, non-cooperative target, on-orbit servicing, target recognition, pose measurement