A pose measurement method of a non-cooperative GEO spacecraft based on stereo vision

摘要

Space robotic system is expected to play an increasingly important role in repairing GEO (geostationary orbit) satellites in the future. To perform the servicing mission, the robotic system is firstly required to approach and dock with the target autonomously, for which the measurement of relative pose is the key. It is a challenging task since the existing GEO satellites are generally non-cooperative, i.e. no artificial mark is mounted to aid the measurement. In this paper, a method based on binocular stereo vision is proposed to estimate the pose of a GEO satellite in the final approach phase. It directly takes the natural circular feature on the GEO satellite as the recognized object. Correspondingly, an image processing and pose measurement algorithm is presented to determine the relative position and orientation of the target. This algorithm provides a closed-form solution using simple mathematics, therefore, it is suitable to space applications where the computation capability of the on-board processor is very limited. In addition, it effectively solves the orientation-duality problem for circular feature, requiring neither specific motions of the camera nor a priori knowledge about the radius of the circle. Computer simulations verify the proposed method.