PSD and light source modulation based cooperative target pose detection method

Abstract:

The relative position and attitude detection of space targets is the focus of research in the field of spacecraft docking, and the detection methods are mainly divided into two categories: telemetry and optical measurement methods. Among them, the latter has become the main method for close-range position and attitude detection relying on its advantages of high speed, high stability and large amount of information. The depth information of the characteristic light points on the spatially cooperative target can be calculated using the binocular vision model, and the target attitude can be obtained based on the known structure, size and other constraint information among the characteristic light points. The PSD has the advantages of having no image feature extraction process, responding fast and having high resolution for positions, compared with CCD and CMOS sensors, and the bionic structure of binocular stereo vision system can help directly obtain the depth information of the detection target. Therefore, this paper proposes a dual PSD vision model with joint modulation of luminance and order of feature light points to achieve the positional detection method of spatial cooperative targets. The experimental results show that the average measurement error of the system is 2.541° when the attitude of the cursor target is adjusted ±30°. The average deviation of the pitch angle and yaw angle are 0.923° and 0.563° when the attitude angle is less than 15°. The average deviation of the pitch angle and yaw angle increase to 4.566° and 4.106° when the attitude angle is larger than 15°, restricted by the divergent angle of the light source; the system can quickly and stably solve the spatial attitude of the cursor target.