Chinese Space Science and Technology ›› 2018, Vol. 38 ›› Issue (2): 1-8.doi: 10.16708/j.cnki.1000-758X.2018.0007

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A position calculating method of binocular vision based on datum optimization

YANG Guanglie, ZHAO Guowei*, LUO Kun   

  1. School of Astronautics, Beihang University, Beijing 100083, China
  • Received:2017-06-30 Revised:2017-08-30 Accepted:2018-01-15 Online:2018-03-25 Published:2018-04-25

Abstract: Aiming to the requirement of relative attitude and position measurement in near-field for space non-cooperative target, position measurement model and error analysis model of characteristic point were established based on the theory of binocular vision. The problem of error increasing due to calculation singularity was analyzedas well. Based on aproposed optimization strategy, a characteristic point calculation method was founded for binocular vision system with non-coplanar optical axes. This method avoids the simultaneous singularity under both cameral datum by configuring the optical axes with certain alternate angle. According to the different measrement error distribution of each datum, the datum optimization strategy was established and the parameter determining method of corresponding criterion was proposed to obtain high precision measurement results. The numerical simulation result shows that, the proposed method can solve the calculation singularity problem and improve the precision of characteristic point position measurement in specific measurement domain.

Key words: non-cooperative target, binocular vision, singularity, measuring datum, position measurement