Pose self-measurement of non-cooperative spacecraft based on solar panel triangle structure

• 1、Automation School, Beijing University of Posts and Telecommunications,Beijing 100876

Abstract：Aiming at the recognition and location of non-cooperative spacecraft, this article presents a monocular vision pose measurement method based on solar triangle structure. First of all, an autonomous recognition algorithm of feature structure based on sliding window Hough transformation (SWHT) and inscribed circle of a triangle is proposed, and the image coordinates of feature points on the triangle can be obtained relying on this algorithm, combined with the P4Palgorithm and the structure of spacecraft, calculating the relative pose of target expressed by rotation and translation matrix. The whole algorithm can be loaded into the pre-written onboard program, which will get the auto-complete feature structure extraction and relative pose measurement without human intervention, and this method needn`t to mount any markers on the target. Then Compare the measured values with the accurate value of the laser tracker, so that a conclusion can be drew that the position error is low enough to meet the requirements of non-cooperative spacecraft `s pose measurement for observations, tracking, docking in the final rendezvous phase.

Keywords： Aerospace measurement system Non-cooperative target Pose measurement Feature recognition