Rotating rigid body spacecraft attitude estimation method based on monocular vision

• Main Authors: HU QINGLEI, ZHENG JIANYING, GUO LEI, LONG CHENRONG
• Format: Patent
• Language: Chinese; English
• Published: 24.08.2021
• Subjects: CALCULATING; COMPUTING; COUNTING; GYROSCOPIC INSTRUMENTS; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention discloses a rotating rigid body spacecraft attitude estimation method based on monocular vision, which comprises the following steps: establishing a known target rotating rigid body spacecraft model and a coordinate system for describing the attitude of the spacecraft, performing median filtering and background separation on an image obtained by a monocular camera, detecting and marking all ellipses by using a fast ellipse detection method, determining general functions of all ellipses, enabling the marked ellipses and a known target model to be subjected to radius matching, obtaining the normal direction and center coordinates of the plane where the ellipses in a camera coordinate system are located through a geometric method, fitting the center coordinates of all the ellipses into a straight line through a least square method, and obtaining the unit direction vector of the straight line; and obtaining the complete relative pose of the target spacecraft relative to the tracking spacecraft accor