基于单相机的空间目标相对位姿测量系统
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中图分类号：TP394.1;TH691.9 文献标志码：Adoi：10.37188/CO.2025-0057CSTR：32171.14.CO.2025-0057
Monocular camera-based relative position and orientation estimation system for space targets
ZHI Shuai 1，2，3 ，DING Guo-peng1，2*，HAN Shi-hao1²， ZHANG Yong-hel2， ZHU Zhen-cai' （1. Innovation Academy for Microsatelltes of Chinese Academy ofSciences，Shanghai 201304， China; 2. Key Laboratory of Satellite Digitization Technology， CAS， Shanghai 201210， China; 3. University of Chinese Academy of Sciences，Beijing 10oo49， China） * Corresponding author， E-mail： zhis@microsate.com， dinggp@microsate.com
Abstract： To enhance the stability and accuracy of estimation systems for ultra-close high-precision docking of spacecrafts， this article proposes a system for high-precision estimation of relative position and orientation between two satelltes.Through vision cameras on the chaser satelite and co-designed LED targets on the target satelite， precise relative pose measurement is achieved within 0.4-50 meters. To ensure clear imaging withinthe efective range，both far-field and near-fieldLED targets were designed.A multi-scale centroid extraction algorithm was proposed based on target characteristics， while slope consistency constraints and spacing ratio screening were employed to guarant target feature acquisition under complex illumination conditions.Pose estimation utilizes target geometric constraints as initial values，employing iterative nonlinear optimization to refine results and effectively reduce measurement errors.Test results demonstrate progressively improving measurement accuracy from far to near distances. At 0.4 meters， position estimation achieves submillmeter precision while orientation estimation maintains sub-degree accuracy， meeting ultra-close-range docking requirements.This solution provides high-precision，high-stability technical support for relative position and orientation estimation between on-orbit space targets，demonstrating significant engineering application value.
Key words： monocular camera; LED cooperative targets; multi-scale centroid extraction; non-linear optimization; relative pose measurement
1引言
随着空间交会对接、在轨维修等技术的快速发展，在轨近距离测量在空间科学中占据越来越重要的位置。（剩余13719字）
