基于高层句法描述的空间失控目标相对位姿测量方法研究

In order to complete on orbit servicing for a tumbling spacecraft, the relative position and attitude parameters must be estimated. Except for the spacecrafts for rendezvous and docking, general spacecrafts don't equip any cooperative targets, so the relative pose estimation method based on the cooperative mode is not applicable any more. Especially for the tumbling spacecraft, even with cooperative targets, it is very difficult for the servicing spacecraft to make the cooperative targets kept in the field of view. Due to the impacts of the lighting conditions in space and the coating status of space target, the complete structure and the clear details will not be shown in the images obtained. Therefore, the high presicion relative navigation under the lighting conditions in space becomes an urgent problem. A kind of relative pose measurement method in close range for the tumbling spacecraft based on high level syntax descriptor is proposed in this project. Firstly, to explore the complete descripting method of the characteristis for the CAD model of the tumbling spacecraft in different attitudes by using high level syntax, to establish the model library of high level syntactic descriptors with pointer point to relative attitudes. Secondly, to research the 3D structure reconstruction of the tumbling spacecraft based on the heterogeneous information fusion of laser radar and seteroscopic cameras, on this basis, to explore the method for extracting high level syntactic descriptors based on 3D structure. Then, to explore the relative pose measurement method for the tumbling spacecraft based on the matching of high level syntactic descriptor. Finally, to construct an experimental system in the basis of our measurement system for the dynamic optial characteristics of space target, to virify the validity and feasibility of the techniques developed in this project.

相对位姿测量是对空间失控航天器进行在轨服务必须解决的关键技术之一。除用于交会对接的航天器之外，一般航天器均不安装合作靶标，无法直接利用基于合作方式的相对位姿测量方法，即使失控目标安装合作靶标，也很难使靶标一直在视场范围内。空间环境中，目标的成像受光照变化和自身表面包覆状态的影响，很难展示完整的结构和清晰的细节。因此，如何在空间光照条件下完成失控目标的高精度相对位姿测量面临着极大的挑战。本项目提出一种基于高层句法描述的空间失控目标相对位姿测量方法。首先，对空间失控目标在不同姿态下的CAD模型，探索一种利用高层句法进行完备描述的方法，建立具有指向姿态指针的广义字符模型库；其次，研究基于激光雷达与立体相机非同质信息融合的空间失控目标三维结构重建，并探索基于重建三维结构的高层句法描述子提取方法；最后，探索基于高层句法描述子匹配的空间失控目标相对位姿测量方法，并进行半物理仿真验证。

相对位姿测量是对空间失控航天器进行在轨服务必须解决的关键技术之一。除用于交会对接的航天器之外，一般航天器均不安装合作靶标，无法直接利用基于合作方式的相对位姿测量法，即使失控目标安装合作靶标，也很难使靶标一直在视场范围内。空间环境中，目标的成像受光照变化和自身表面包覆状态的影响，很难展示完整的结构和清晰的细节。因此，如何在空间光照条件下完成失控目标的高精度相对位姿测量面临着极大的挑战。本项目提出一种基于高层句法描述的空间失控目标相对位姿测量方法。首先，对空间失控目标在不同姿态下的CAD模型，探索一种利用高层句法进行完备描述的方法，建立具有指向姿态指针的广义字符模型库；其次，研究基于激光雷达与立体相机非同质信息融合的空间失控目标三维结构重建，并探索基于重建三维结构的高层句法描述子提取方法；最后，探索基于高层句法描子匹配的空间失控目标相对位姿测量方法，并进行半物理仿真验证。