CN108897029B - Non-cooperative target short-distance relative navigation vision measurement system index evaluation method - Google Patents
Non-cooperative target short-distance relative navigation vision measurement system index evaluation method Download PDFInfo
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Abstract
A method for evaluating indexes of a non-cooperative target close-range relative navigation vision measurement system includes the steps of firstly installing a binocular camera on a satellite body, determining the position and the posture of a satellite, then determining the installation position and the posture of the binocular camera relative to the satellite body, establishing a binocular view field, finally carrying out non-cooperative target simulation to obtain depth resolution and view field occupancy rate, and finishing evaluation of the indexes of the non-cooperative target close-range relative navigation vision measurement system.
Description
Technical Field
The invention relates to the research fields of spacecraft relative navigation, spacecraft vision and the like, in particular to an index evaluation method of a non-cooperative target close-range relative navigation vision measurement system.
Background
The aerospace technology is the comprehensive reflection of national science and technology strength, economic strength and military strength, determines the international status of the country, national defense safety and other factors, and with the rapid development of the aerospace technology, deep space exploration and on-orbit maintenance are important fields of follow-up spacecraft research. Landing and asteroid capture sampling when a spacecraft detects planets in deep space exploration, parking of non-cooperative targets in orbital maintenance, capture of failed spacecraft, space debris and the like all relate to a key technology, namely the problem of short-distance navigation of the non-cooperative targets.
In short-range relative navigation, a visual measurement method is an important technical approach. Visual relative navigation is further divided into monocular visual relative navigation and binocular visual-based relative navigation. The monocular visual navigation is to adopt a monocular camera to perform passive imaging on a target, solve the relative position and posture by using the geometric relation between the camera target and the target, determine an equation set by using the coordinates of the feature points under a camera coordinate system and a target coordinate system and taking a perspective projection equation as a basis after obtaining the coordinates of the feature points under the camera coordinate system, and obtain the relative posture after iterative solution; stereo vision is to measure the characteristic points on the target by more than one camera, obtain the coordinates of the uniquely determined target characteristic points in the coordinate system of the spacecraft, and then obtain the relative pose through coordinate transformation. The basic equation in the monocular vision algorithm is a quadratic nonlinear equation, no analytic solution exists, iterative solution is needed, convergence and solution speed influence the real-time performance of the monocular vision algorithm, and the stereo vision measurement method is simple in algorithm, high in measurement accuracy and wide in application prospect in short-distance relative navigation. In addition, due to the fact that the priori knowledge of the non-cooperative target is lack, no feature point installed in advance is used for identification, short-distance relative navigation of the non-cooperative target is difficult to conduct on the basis of a monocular, and the stereo vision can conduct three-dimensional reconstruction on the target after feature extraction and feature matching are conducted on the target to obtain the relative pose without any priori knowledge, so that the method is an ideal method for short-distance navigation of the non-cooperative target.
However, when designing a near-distance stereoscopic navigation system for non-cooperative targets, it is necessary to comprehensively evaluate an observable range of a vision system, a utilization rate of a focal plane during observation, a resolution (accuracy of three-dimensional reconstruction and pose identification) of the vision system, and the like, so that it is necessary to establish a performance evaluation technology of a binocular vision system for near-distance relative navigation for non-cooperative targets, and to provide an evaluation scheme and support for system design and principle prototype development of subsequent near-distance visual navigation for non-cooperative targets.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method for evaluating the indexes of the non-cooperative target close-range relative navigation vision measurement system is used for overcoming the defects of the prior art, establishing an evaluation framework for evaluating the performance of a binocular vision system aiming at close-range navigation and measurement of the non-cooperative target, providing a precision evaluation method aiming at a non-parallel binocular stereo vision system, and providing a design basis for subsequent system simulation analysis, principle prototype and on-orbit carrying scheme design.
The technical solution of the invention is as follows: a non-cooperative target short-distance relative navigation vision measurement system index evaluation method comprises the following steps:
(1) installing a binocular camera on a satellite body, and determining the position and the posture of the satellite;
(2) determining the installation position and the posture of the binocular camera relative to the satellite body, and establishing a binocular field of view;
(3) and (5) performing non-cooperative target simulation to obtain the depth resolution and the view field occupancy, and finishing the index evaluation of the non-cooperative target close-range relative navigation vision measurement system.
The method for determining the position and the attitude of the satellite comprises the following steps
(1) Installing a binocular stereoscopic vision camera on a satellite to establish a satellite orbit coordinate system;
(2) establishing a body coordinate system of the satellite, and when the satellite does not perform attitude maneuver, the body coordinate system of the satellite is superposed with the orbit coordinate system of the satellite;
(3) and determining the position and the attitude of the satellite according to a conversion matrix from the orbit coordinate system to the satellite body coordinate system.
The method for determining the installation position and the posture of the binocular camera relative to the satellite body and establishing the binocular field of view comprises the following steps:
and establishing a binocular visual field under the coordinates of the binocular camera body based on the installation position vector of the camera relative to the satellite body to obtain a visual field coordinate system of the binocular stereoscopic vision camera, a visual field focal length register of the binocular camera, a baseline distance, a phase element size and a resolution.
The method for carrying out non-cooperative target simulation to obtain the depth resolution comprises the following steps: the depth resolution of the parallel optical axis design binocular camera can be
Wherein r is the size of a phase element, Z is the depth distance of the centroid, f is the focal length of the camera, and b is the length of the base line of the binocular camera;
the depth resolution of the non-parallel optical axis binocular camera is
Wherein θ is the included angle of the optical axis.
The calculation method of the view field occupancy comprises the following steps: and the ratio of the characteristic points of the non-cooperative targets entering the field of view of the binocular stereo vision camera to the characteristic points of the non-cooperative targets.
A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any of claims 1-5.
Compared with the prior art, the invention has the advantages that:
the invention establishes an evaluation framework for evaluating the performance of the binocular vision system aiming at the close-range navigation and measurement of the non-cooperative target by a set of system, provides design basis for subsequent system simulation analysis, principle prototype and on-orbit carrying scheme design, and has good use value.
Drawings
FIG. 1 is a block diagram of an index evaluation system of a non-cooperative target near relative navigation vision measurement system according to the present invention;
FIG. 2 is a schematic diagram illustrating the definition of a system coordinate system;
FIG. 3 is a schematic view of parallel-axis and non-parallel-axis fields of view;
FIG. 4 is a flow chart of field indicator performance analysis.
FIG. 5 is a schematic view of the calculation of depth resolution of a parallel-axis binocular camera;
FIG. 6 is a schematic view of a depth resolution calculation of a non-parallel optical axis binocular camera;
FIG. 7 is a schematic view of a depth resolution calculation of a non-parallel optical axis binocular camera;
FIG. 8 is a diagram of the relative relationship of the subject to the field of view of the camera;
fig. 9 is an effect diagram of the present invention.
Detailed Description
The invention provides an evaluation method for evaluating the performance of a binocular vision system aiming at non-cooperative target short-distance navigation and measurement by a system aiming at the defects of the prior art, and provides a design basis for subsequent system simulation analysis, principle prototype and on-orbit carrying scheme design. The specific structure of the system of the invention is shown in figure 1:
(1) determining position and attitude of a satellite
The visual observation system (binocular stereo vision camera) is installed on a satellite, and in order to evaluate the precision of a visual field and the observation performance of the visual field, the position and the posture of a satellite body are determined firstly. As shown in FIG. 2(a), OiXiYiZiIs the orbital coordinate system of the satellite, ObXbYbZbBody coordinate system for satellite, OtXtYtZtIs the orbital coordinate system of the non-cooperative target,
is the relative bit vector of the satellite and the non-cooperative target. The mass center position of the satellite body and a conversion matrix C from an orbit coordinate system to a body coordinate system can be determined by the orbit data and the attitude databi；
(2) Determining the mounting position and attitude of a camera relative to a satellite body
Because the satellite body configuration and observation requirements have certain installation constraints through the installation of the camera, the installation position and the attitude of the camera need to be determined according to the actual design, the relationship between the satellite body system and the camera view field coordinate system is given in fig. 2(b), and the camera view field coordinate system is OcXcYcZcThe vector of the installation position of the camera relative to the satellite body is
(3) Establishing binocular camera and field of view thereof
According to the orbit and the attitude of the satellite body, the installation position and the attitude matrix of the camera and the parameters of the camera, a binocular field of view can be established, the parameters of the camera take nominal values, the focal length f, the baseline distance b, the phase element size R and the resolution Rx×RyIn addition, the binocular system may be installed using a non-flat optical axis (as shown in fig. 3) in consideration of the purpose of improving the depth resolution of the camera while securing the utilization rate of the common visual field.
(4) Non-cooperative target simulation
The premise of carrying out close-range relative navigation and observation on the non-cooperative target is that the target can enter a visual field, so that a reasonable track of the non-cooperative target must be designed to test the performance of the system, including the design of the track, the attitude and the motion state. The orbital coordinate system O of the target is given in FIG. 2(c)tXtYtZtTarget centroid coordinate system OgXgYgZgAnd eye specimen coordinate system OpXpYpZp，
Is a position vector of the centroid of the target specimen body coordinate system under the target orbit coordinate system,
the spin vector axis of the target is expressed by direction cosines alpha, beta and gamma of three axes of a target centroid coordinate system, and the spin rate is omega.
(5) System simulation analysis, recording each time step performance index (focal plane utilization, resolution, etc.)
Simulating according to the time sequence, imaging the target on the focal plane, and recording the focal plane utilization rate, depth position, system time, resolution and the like at the moment, wherein the specific simulation sequence is shown in fig. 4:
a) according to the system model determined in the previous 4 steps, calculating the position and the attitude of the non-cooperative target and the position and the attitude of the satellite when the initial time T is 0, and establishing the view field of the camera on the basis;
b) judging the position relation between the camera view field and the target, and recording the position relation between the target and the view field (whether the target enters the view field, whether the target completely enters, whether the target starts to enter, whether the target leaves the view field, whether the target completely leaves the view field, and the like), time information, depth information, and the like;
to determine the relative state of the target and the field of view, a projection algorithm is used for analysis (as shown in FIG. 8). For a monocular camera, let the coordinate of the focal point of the camera be PfThe line connecting the focus and the edge of the focal plane determines the field of view of the camera, and if the plane (projection plane) where the focal plane of the camera is located is omega, the area of the focal plane in the projection plane is omegafFor the target object, assume that there are N feature points whose outer envelope can be determined, as { P }1,P2,…,PN}. Position P of camera focus for any timefProjection plane omega, the area omega of the focal plane in the projection planefAnd feature point { P on target1,P2,…,PNAll can be obtained by calculation.
For an arbitrary feature point PiThe line P of the focus can be calculatedfPiPoint of intersection P with the projection planei', if
It can be assumed that the object is completely in the field of view of the camera. Otherwise if there is
The object is outside the field of view of the camera when the object is not visible to the camera. In addition, if only partial projection of feature points belongs to ΩfThe object is then now partly in the field of view of the camera, i.e. partly visible.
For the binocular stereoscopic vision field, a common vision field is required to be used as a judgment basis for the object to enter and exit the vision field, so that the left camera and the right camera are respectively analyzed, and the object can be considered to be visible only when projections of the object feature points on the projection plane belong to focal planes of the two cameras at the same time.
c) If the target is in the field of view, entering the step d), and if the target is not in the field of view, entering the step e);
d) imaging a target on a camera focal plane, calculating the utilization rate of the left and right target focal planes, calculating the resolution (mainly depth resolution) and the like, wherein the depth resolution is calculated by adopting the formula (10) in the method in the step 7);
e) and judging whether the current time is less than the maximum time, if so, returning the step b by setting T as T + delta T, and if not, ending the simulation.
(6) Visual system performance evaluation
Carrying out system evaluation on the simulation result in the step (5), and if the simulation result meets the engineering requirement, ending the analysis; otherwise, modifying the design, carrying out model selection on the camera again, and returning to the step 3).
(7) The depth resolution calculation method of the binocular stereo camera comprises the following steps:
1. depth resolution of parallel optical axis binocular camera
Conventionally, a general binocular camera is designed with parallel optical axes, as shown in fig. 5, where Z is depth, and R is depth resolution, since the depth resolution is usually smaller than the transverse and longitudinal resolutions and is an important index affecting three-dimensional reconstruction, the depth resolution is mainly considered. The depth resolution of the parallel optical axis can be calculated as follows:
where R is the phase element size, Z is the depth distance, f is the camera focal length, R is the depth resolution, and b is the baseline length.
2. Depth resolution calculation method of binocular camera with non-parallel optical axes
In practical applications, in order to satisfy a certain resolution, a telephoto lens is usually required for imaging, considering that the field angle of the telephoto lens is small and the range of the stereoscopic common field of view is limited, a binocular camera mounted with non-parallel optical axes is required, and the relationship between the depth resolution and the depth is shown in fig. 6, where θ is the included angle of the optical axes of the cameras. In order to calculate the depth resolution of the non-parallel optical axis binocular vision system, a depth resolution schematic diagram shown in fig. 7 is established, a field-of-view coordinate system xyz is established with an O-point coordinate origin, and coordinate values of points in the diagram can be obtained as follows:
since the optical axis perturbs the Z axis and rotates counterclockwise by θ/2 for camera A, the coordinates of E and F are:
the coordinates of the G point and the H point are easily obtained as follows:
the actual resolution after deflection R is then:
the abscissa with the actual depth as point G, i.e.:
solving by equation (9):
substituting equation (10) into equation (8) yields:
it is not difficult to see that when the optical axis angle θ is 0, equation (2) coincides with equation (10).
FIG. 9 is a diagram illustrating the effect of the index evaluation system according to the present invention.
The invention establishes an index evaluation system of a non-cooperative target close-range relative navigation vision measurement system by combining with the actual requirements of engineering, and provides a depth resolution calculation method of a non-parallel optical axis binocular vision system. The method comprises the following specific implementation steps:
(1) and determining the position and the attitude of the satellite ontology model according to the orbit data and the attitude data. The orbit data of the satellite is used for determining a coordinate system O in an orbit coordinate systemiXiYiZiThe position of origin being defined by the inertial reference system O0X0Y0Z0Vector of (5)
Attitude data is mainly used for determining a body coordinate system O of a satellite based on an orbital coordinate systembXbYbZbGenerally defined by roll angle alpha, pitch angle beta and yaw angle gamma, from which parameters an attitude transformation matrix can be determined. The data can be determined and obtained through previous task analysis and track design, and is related to time.
(2) Determining the installation vector of the camera according to the installation position of the camera
And attitude transformation matrix Ccb(ii) a Establishing a binocular field of view according to the installation position and the installation posture of the camera, wherein the internal reference and the external reference of a binocular system take design values (nominal values), and the main parameters of the camera comprise a focal length, a base length, a phase element size, a resolution ratio and the like;
(3) according to engineering practice, establishing a virtual non-cooperative target model, and setting orbit parameters, attitude parameters and a spin state of a non-cooperative target, wherein the orbit parameters, the attitude parameters and the spin state mainly comprise the configuration of the non-cooperative target, orbit data, the attitude relative to the orbit, a spin axis, an angular velocity and the like; starting system simulation, judging whether the target is in a visual field range according to the geometric relation between the target position and the binocular visual field, and recording the time and the position when the target completely enters the public visual field and the time and the position when the target begins to leave the public visual field; according to the depth resolution calculation method of the non-parallel optical axis binocular field of view, the change curves of the depth resolution and the transverse resolution of the target in the whole simulation process along with time are calculated; the occupancy ratio of the target image in the left and right eye focal planes is recorded.
(4) And (3) analyzing the retention time, the focal plane utilization rate and the effective observation range (the observation range meeting the depth resolution requirement) of the target in the common view field according to the simulation analysis result, finishing the system index evaluation if the design requirement is met, and returning to the step 3 for circulation if the requirement is not met.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (2)
1. The non-cooperative target short-distance relative navigation vision measurement system index evaluation method is characterized by comprising the following steps of:
(1) installing a binocular camera on a satellite body, and determining the position and the posture of the satellite;
(2) determining the installation position and the posture of the binocular camera relative to the satellite body, and establishing a binocular field of view;
(3) performing non-cooperative target simulation to obtain depth resolution and view field occupancy, and finishing the index evaluation of the non-cooperative target short-distance relative navigation vision measurement system;
the method for determining the position and the attitude of the satellite comprises the following steps
(11) Installing a binocular camera on a satellite to establish a satellite orbit coordinate system;
(12) establishing a body coordinate system of the satellite, and when the satellite does not perform attitude maneuver, the body coordinate system of the satellite is superposed with the orbit coordinate system of the satellite;
(13) determining the position and the attitude of the satellite according to a conversion matrix from a satellite orbit coordinate system to a satellite body coordinate system;
the method for determining the installation position and the posture of the binocular camera relative to the satellite body and establishing the view field of the binocular camera comprises the following steps:
establishing a binocular field of view under a satellite body coordinate system based on an installation position vector of the binocular camera relative to the satellite body to obtain a field of view coordinate system of the binocular camera, a field of view focal length of the binocular camera, a baseline distance, a phase element size and a depth resolution;
the method for carrying out non-cooperative target simulation to obtain the depth resolution comprises the following steps: depth resolution of parallel-axis binocular camera
Wherein r is the size of a phase element, Z is the depth distance of the centroid, f is the focal length of the binocular camera, and b is the length of the base line of the binocular camera;
the depth resolution of the non-parallel optical axis binocular camera is
Wherein theta is an included angle of the optical axis;
the calculation method of the view field occupancy comprises the following steps: and acquiring the ratio of the characteristic points of the non-cooperative targets entering the view field of the binocular camera to the characteristic points of the non-cooperative targets.
2. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method as set forth in claim 1.
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