Closed-form Algorithm for Relative Pose Parameters of Spacecraft Based on 3D Reconstruction
- VernacularTitle:基于3D重建的航天器相对位姿参数测量的解析算法
- Author:
Jin YANG
;
Guohua JIANG
;
Jiangang CHAO
- Publication Type:Journal Article
- Keywords:
rendezvous and docking;
3D reconstruction;
relative pose parameters;
mathematical simulation
- From:Space Medicine & Medical Engineering
2006;0(03):-
- CountryChina
- Language:Chinese
-
Abstract:
Objective To research a new algorithm to get the relative pose parameters of spacecraft during the final approach phase of spacecraft rendezvous and docking(RVD).Methods The method was based on the shape of five non-coplanar points and the model of the pinhole,and the conception of 3D reconstruction was employed.For the shape of the mark was known,the 3-D shape of the cross-mark was reconstructed based on the single visual system,and the closed-form algorithm for relative pose parameters of spacecraft was given.Results The algorithm had been validated by the mathematical simulation,and the precise results of the relative pose parameters were calculated.Conclusion The simulation results show that the algorithm is rather simple and with relative accuracy.Furthermore it is meets exact the need in real time.
