Pose Self-Measurement of Noncooperative Spacecraft Based on Solar Panel Triangle Structure
Aiming at the recognition and location of noncooperative spacecraft, this paper presents a monocular vision pose measurement method based on solar triangle structure. First of all, an autonomous recognition algorithm of feature structure based on sliding window Hough transformation (SWHT) and inscri...
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| Format: | Article |
| Language: | English |
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Wiley
2015-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2015/472461 |
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| _version_ | 1832551071277383680 |
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| author | Jingzhou Song Caixiu Cao |
| author_facet | Jingzhou Song Caixiu Cao |
| author_sort | Jingzhou Song |
| collection | DOAJ |
| description | Aiming at the recognition and location of noncooperative spacecraft, this paper presents a monocular vision pose measurement method based on solar triangle structure. First of all, an autonomous recognition algorithm of feature structure based on sliding window Hough transformation (SWHT) and inscribed circle of a triangle is proposed, and the image coordinates of feature points on the triangle can be obtained relying on this algorithm, combined with the P4P algorithm and the structure of spacecraft, calculating the relative pose of target expressed by rotation and translation matrix. The whole algorithm can be loaded into the prewritten onboard program, which will get the autocomplete feature structure extraction and relative pose measurement without human intervention, and this method does not need to mount any markers on the target. Then compare the measured values with the accurate value of the laser tracker, so that a conclusion can be drawn that the maximum position error is lower than 5% and the rotation error is lower than 4%, which meets the requirements of noncooperative spacecraft’s pose measurement for observations, tracking, and docking in the final rendezvous phase. |
| format | Article |
| id | doaj-art-b512d4916e3c4444b07b99b4d3eb3584 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-b512d4916e3c4444b07b99b4d3eb35842025-02-03T06:05:08ZengWileyJournal of Robotics1687-96001687-96192015-01-01201510.1155/2015/472461472461Pose Self-Measurement of Noncooperative Spacecraft Based on Solar Panel Triangle StructureJingzhou Song0Caixiu Cao1School of Automation, Beijing University of Posts and Telecommunications, No. 10 Xitucheng Road, Haidian District, Beijing 100876, ChinaSchool of Automation, Beijing University of Posts and Telecommunications, No. 10 Xitucheng Road, Haidian District, Beijing 100876, ChinaAiming at the recognition and location of noncooperative spacecraft, this paper presents a monocular vision pose measurement method based on solar triangle structure. First of all, an autonomous recognition algorithm of feature structure based on sliding window Hough transformation (SWHT) and inscribed circle of a triangle is proposed, and the image coordinates of feature points on the triangle can be obtained relying on this algorithm, combined with the P4P algorithm and the structure of spacecraft, calculating the relative pose of target expressed by rotation and translation matrix. The whole algorithm can be loaded into the prewritten onboard program, which will get the autocomplete feature structure extraction and relative pose measurement without human intervention, and this method does not need to mount any markers on the target. Then compare the measured values with the accurate value of the laser tracker, so that a conclusion can be drawn that the maximum position error is lower than 5% and the rotation error is lower than 4%, which meets the requirements of noncooperative spacecraft’s pose measurement for observations, tracking, and docking in the final rendezvous phase.http://dx.doi.org/10.1155/2015/472461 |
| spellingShingle | Jingzhou Song Caixiu Cao Pose Self-Measurement of Noncooperative Spacecraft Based on Solar Panel Triangle Structure Journal of Robotics |
| title | Pose Self-Measurement of Noncooperative Spacecraft Based on Solar Panel Triangle Structure |
| title_full | Pose Self-Measurement of Noncooperative Spacecraft Based on Solar Panel Triangle Structure |
| title_fullStr | Pose Self-Measurement of Noncooperative Spacecraft Based on Solar Panel Triangle Structure |
| title_full_unstemmed | Pose Self-Measurement of Noncooperative Spacecraft Based on Solar Panel Triangle Structure |
| title_short | Pose Self-Measurement of Noncooperative Spacecraft Based on Solar Panel Triangle Structure |
| title_sort | pose self measurement of noncooperative spacecraft based on solar panel triangle structure |
| url | http://dx.doi.org/10.1155/2015/472461 |
| work_keys_str_mv | AT jingzhousong poseselfmeasurementofnoncooperativespacecraftbasedonsolarpaneltrianglestructure AT caixiucao poseselfmeasurementofnoncooperativespacecraftbasedonsolarpaneltrianglestructure |