CN108645426A - A kind of in-orbit self-calibrating method of extraterrestrial target Relative Navigation vision measurement system - Google Patents
A kind of in-orbit self-calibrating method of extraterrestrial target Relative Navigation vision measurement system Download PDFInfo
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Abstract
A kind of in-orbit self-calibrating method of extraterrestrial target Relative Navigation vision measurement system is primarily based on pinhole camera model foundation extraterrestrial target Relative Navigation vision measurement system model；Then the expression formula of extraterrestrial target Relative Navigation vision measurement system inside and outside parameter is obtained by the common trait point identified in one group of correspondence image in image sequence；The ideal constraint equation of inside and outside parameter expression formula is further obtained by the characteristic of spin matrix；Finally the error function of construction ideal constraint equation is as object function, part extraterrestrial target Relative Navigation vision measurement system parameter is obtained by having the characteristics that the fast particle cluster algorithm optimization of calculating speed is preliminary, it is advanced optimized again based on extraterrestrial target Relative Navigation vision measurement system inside and outside parameter expression formula and obtains remaining whole parameter, form a set of in-orbit self-calibrating method of extraterrestrial target Relative Navigation vision measurement system.
Description
Technical field
The present invention relates to a kind of in-orbit self-calibrating methods of extraterrestrial target Relative Navigation vision measurement system, for extraterrestrial target
Relative Navigation vision measurement system operation on orbit process, the inside and outside parameter for Relative Navigation vision measurement system are in-orbit from principal mark
It is fixed.
Background technology
With the rapid development of space technology, the structure of spacecraft, composition are increasingly sophisticated, and performance, technical merit are not
It is disconnected to improve, more and more spacecrafts propose in complicated space environment more persistently, stablize, in high quality in orbit
Demand, On-orbit servicing technology becomes current space technology field major issue urgently to be resolved hurrily.
In-orbit service spacecraft Close approach section needs by relative navigation system complete detection and estimates relative motion
State.Due to the Relative Navigation measuring system of view-based access control model combine non-contact, speed is fast, small, light-weight, long lifespan and
High reliability becomes and closely approaches one of the important means of Relative Navigation in operation task, and the parameter mark of camera
Determine the primary link that link is extraterrestrial target Relative Navigation.Calibration process is just to determine the geometry and optical parameter of camera, camera
Orientation relative to world coordinate system.Traditional scaling method needs, using precision machined calibrating block is passed through, to demarcate by establishing
On block the known point of three-dimensional coordinate with it is corresponding between its picture point, to calculate the inside and outside parameter of camera.The advantages of this method is
Higher precision can be obtained, but calibration process is time-consuming and laborious, be not suitable for on-line proving and the field of calibrating block can not possibly be used
It closes.Scaling method based on active vision, which needs to control camera, does certain peculair motions, such as rotate around optical center or pure flat shifting, sharp
Intrinsic parameter can be calculated with the particularity of this movement.The advantages of this method is that algorithm is simple, tends to obtain linear solution, lack
Point is to be not applied for that camera motion is unknown or uncontrollable occasion.
For space tasks application environment, vision measurement system causes camera parameter to become in the presence of space environment after entering the orbit
Change, spacecraft it is in-orbit can not artificially participate in calibration, long-term in-orbit camera parameter is degenerated, space tasks active vision reliability is low
The problems such as, thus to vision measurement system propose it is autonomous, flexibly with practicability requirement.
Invention content
The technology of the present invention solves the problems, such as：A kind of extraterrestrial target Relative Navigation is overcome the deficiencies of the prior art and provide
The in-orbit self-calibrating method of vision measurement system.It is established by common trait point correspondence in image sequence and spin matrix characteristic
Ideal constraint equation obtain objective optimization function, be based further on particle cluster algorithm optimization acquisition extraterrestrial target Relative Navigation
Vision measurement system parameter forms a set of in-orbit self-calibrating method of extraterrestrial target Relative Navigation vision measurement system.
The technical scheme is that：A kind of in-orbit self-calibrating method of extraterrestrial target Relative Navigation vision measurement system, step
It is rapid as follows：
(1) 2 coordinate system of 1 coordinate system of camera and camera is established, and establishes extraterrestrial target Relative Navigation vision measurement system mould
Type；
(2) camera 1, camera 2 shoot in one group of correspondence image in image sequence, it is corresponding to same characteristic point
Two picture points obtain the expression formula of extraterrestrial target Relative Navigation vision measurement system inside and outside parameter；
(3) the ideal constraint equation of inside and outside parameter expression formula is obtained by the characteristic of spin matrix；
(4) error function of construction ideal constraint equation optimizes preliminary obtain as object function by particle cluster algorithm
The partial parameters of extraterrestrial target Relative Navigation vision measurement system construct object function, with n point pair so that object function obtains
Minimum value is optimization aim, optimizes to obtain the partial parameters inside and outside camera by particle cluster algorithm；
(5) it is based on extraterrestrial target Relative Navigation vision measurement system inside and outside parameter expression formula, obtains transformation matrix of coordinates
Value；The picture point pair being mutually matched for taking same characteristic point in corresponding target is obtained two image point coordinates and is become based on spin matrix
Change equation；
(6) it is based on spin matrix constraint equation fetching portion parameter, spin matrix transformation equation is based further on and obtains rotation
Torque battle array R, it is in-orbit to realize the solution of the above parameter, and solve equation and all completed according to image sequence, that is, realize it is in-orbit from
Calibration.
The detailed process that 2 coordinate system of 1 coordinate system of camera and camera is established in the step (1) is：
1 coordinate system X of camerac1Yc1Zc1Origin is in 1 optical center of camera, Zc1Along the vertical imaging plane of camera optical axis, Xc1With Yc1
The long wide direction of image that parallel camera 1 takes respectively；2 coordinate system X of camerac2Yc2Zc2Origin is located at 2 optical center of camera, and camera 2 is sat
Mark is, Z parallel with 1 coordinate system of camerac2Along the vertical imaging plane of camera optical axis, Xc2With Yc2The long wide direction of parallel image respectively.
Extraterrestrial target Relative Navigation vision measurement system model is established in the step (1) includes：Target point is sat from camera 1
Coordinate transformation equation of the mark system to image coordinate system
Coordinate transformation equation of the target point from 2 coordinate system of camera to image coordinate system
The coordinate transformation equation of target point 1 coordinate system from world coordinate system to camera
The coordinate transformation equation of target point 1 coordinate system from world coordinate system to camera
Wherein i=1,2：
uiFor the abscissa on camera i images；
viFor the ordinate on camera i images；
fiFor the focal length of camera i；
λiFor the factor of the coordinate transformation equation of camera i coordinate systems to image coordinate system；
ui0For the abscissa of principal point on camera i images；
vi0For the ordinate of principal point on camera i images；
Xci、Yci、ZciFor coordinate system of the target point in camera i coordinate systems；
RiFor from world coordinate system to the transformation matrix of coordinates of camera i coordinate systems；
TiFrom world coordinate system to the translation vector of camera i coordinate systems；
Xw、Yw、ZwIt is target point in world coordinate system coordinate.
Two picture point corresponding to same characteristic point obtains extraterrestrial target Relative Navigation vision measurement system in the step (2)
System inside and outside parameter expression formula be specially：
Wherein：
For the intrinsic parameter of camera i；
Ri、TiFor the outer parameter of camera.
The circular of step (3) the ideal constraint equation is：
According to spin matrix characteristic, for any spin matrix Ri, there are following relational expressions：
Wherein, the unit matrix amount that E is 3 × 3；
Inside and outside parameter expression formula is brought into spin matrix constraint equation to obtain：
For camera 1 and one group of corresponding point pair in the image sequence that camera 2 obtains, space coordinate is obtained in ideal feelings
It is identical under condition, the constraint equation for obtaining two image point coordinates is as follows：
The object function constructed in the step (4) is as follows：
It is as follows to be based on spin matrix transformation equation for two image point coordinates in the step (5)：
Wherein：
It is still changes in coordinates matrix for the product of two cameras and the coordinates matrix of world coordinate system, expression
It is the variation relation of two camera coordinates systems；
ui1、vi1：For put to i in 1 image of camera corresponding coordinate value；
ui2、vi2：For put to i in 2 image of camera corresponding coordinate value.
Compared with the prior art, the invention has the advantages that：
It (1), can The present invention gives a kind of new in-orbit self-calibrating method of extraterrestrial target Relative Navigation vision measurement system
For the Auto-calibration of vision system during spacecraft Relative Navigation, ensure two CCD camera measure system in the presence of space after entering the orbit
The calibration correction of camera parameter when environment causes camera parameter variation, long-term in-orbit camera parameter to be degenerated.
(2) image sequence that the self-calibrating method is obtained based on spatial vision measuring system does not need set calibrating block,
Also calibration process need not be artificially participated in, a whole set of self-calibrating method flexibly, simply, ensures in-orbit unmanned spacecraft binocular vision system
The problem of calibrating of system.
(3) realize the calibration of vision measurement system in conjunction with particle cluster algorithm, scaling method based on ripe optimization algorithm,
Algorithm is simple and solving speed is fast, and to realize in-orbit Fast Calibration, overall procedure is completed based on image sequence, compared to actively regarding
The advantage that the self-calibrating method of feel has reliability high.
Description of the drawings
Fig. 1 flow charts of the method for the present invention；
The vision system model schematic diagram of Fig. 2 present invention；
Specific implementation mode
The present invention basic ideas be：A kind of new in-orbit self-calibration side of extraterrestrial target Relative Navigation vision measurement system
Method is primarily based on pinhole camera model foundation extraterrestrial target Relative Navigation vision measurement system model；Then pass through image sequence
In the common trait point that identifies in one group of correspondence image obtain the table of extraterrestrial target Relative Navigation vision measurement system inside and outside parameter
Up to formula；The ideal constraint equation of inside and outside parameter expression formula is further obtained by the characteristic of spin matrix；It finally constructs preferably about
The error function of Shu Fangcheng is obtained as object function by having the characteristics that the fast particle cluster algorithm optimization of calculating speed is preliminary
Segment space target Relative Navigation vision measurement system parameter, then based on the inside and outside ginseng of extraterrestrial target Relative Navigation vision measurement system
Number expression formula obtains remaining whole parameter, forms a set of in-orbit self-calibrating method of extraterrestrial target Relative Navigation vision measurement system.
The present invention is described in further detail with reference to Fig. 1 and specific embodiment.
A kind of in-orbit self-calibrating method of extraterrestrial target Relative Navigation vision measurement system of the present invention, its step are as follows：
(1) camera of selection identical focal length constitutes vision system, as shown in Figure 2；World coordinate system is taken to be sat with camera 1 simultaneously
Mark system overlaps, and it is as follows to establish extraterrestrial target Relative Navigation vision measurement system model：
Wherein (1) formula is coordinate transformation equation of the target point from 1 coordinate system of camera to image coordinate system, and (2) formula is target
Coordinate transformation equation of the point from 2 coordinate system of camera to image coordinate system, (3) formula are target point 1 seat from world coordinate system to camera
The coordinate transformation equation of system is marked, (4) formula is the coordinate transformation equation of target point 1 coordinate system from world coordinate system to camera.In formula：
uiFor the abscissa on camera i images；
viFor the ordinate on camera i images；
F is the focal length of camera i；
λiFor the factor of the coordinate transformation equation of camera i coordinate systems to image coordinate system；
ui0For the abscissa of principal point on camera i images；
vi0For the ordinate of principal point on camera i images；
Xci、Yci、ZciFor coordinate system of the target point in camera i coordinate systems；
R is the transformation matrix of coordinates of 2 coordinate systems from world coordinate system to camera；
The translation vector of T 2 coordinate systems from world coordinate system to camera；
Xw、Yw、ZwIt is target point in world coordinate system coordinate.
(2) corresponding two camera imaging of several frames is obtained in image sequence, is identified from corresponding two image of different frame
Several character pair point p1j：(u1j v1j 1)TWith p2j：(u2j v2j 1)T, they are reconstructed into the spatial point under world coordinate system
Pj：(Xwj Ywj Zwj)T, the above n is obtained altogether to characteristic point, and every group of characteristic point all is converted to obtain what inside and outside parameter formed by (4) formula
Expression formula is as follows：
Wherein：
For the i intrinsic parameters of camera；
R, T is the outer parameter of camera, since 1 coordinate system of camera is world coordinate system, then the as camera that R, T are indicated
2 with the position and attitude relationship of camera 1.
(3) the ideal constraint equation of inside and outside parameter expression formula is obtained by the characteristic of spin matrix.
According to spin matrix characteristic, for any spin matrix R, there are following relational expressions：
RRT=E (7)
Wherein, the unit matrix amount that E is 3 × 3.
According to the above property, it is applied to (5) formula, (6) formula, it is right to expression formula or so two parts respectively to turn at respective part
It sets, obtains vector field homoemorphism square expression formula, it is as follows：
There is following ideal equivalence relation clearly for spatial point：
(4) ideal situation is derived as more than, but in real image processing procedure, since the characteristic point of pickup is necessarily deposited
In error, then the equivalence relation of formula (10) will no longer be set up, there can be an error term, be denoted as δj：
By the minimum of the above error term, target, the optimization object function of construction are as follows as an optimization：
With n point pair so that it is specific optimization aim that object function, which obtains minimum value, optimize to obtain by particle cluster algorithm
Camera inside and outside parameter λ1、λ2、K1、K2、T。
(5) value for obtaining transformation matrix of coordinates by formula (5), formula (6) again, λ has been obtained by abovementioned steps1、λ2、
K1、K2, T value, only transformation matrix of coordinates R is still known variables in outer parameter.Take the characteristic point that is mutually matched substitute into formula (5),
Formula (6) obtains ideal constraint equation, and then constraint equation only one-step optimization solution can obtain changes in coordinates matrix R, constraint side
Journey is as follows：
Wherein：
u11、v11：For 1 image midpoint pair of camera, 1 corresponding coordinate value；
u12、v12：For 2 image midpoint pair of camera, 1 corresponding coordinate value；
(6) to sum up, it includes λ to be primarily based on spin matrix constraint equation fetching portion parameter1、λ2、K1、K2、T1、T2, into one
Step obtains spin matrix R, the solution of the in-orbit above parameter of realization based on spin matrix transformation equation, and solves equation all foundations
Image sequence is completed, that is, realizes in-orbit self-calibration.
The content that description in the present invention is not described in detail belongs to the known technology of professional and technical personnel in the field.
Claims (7)
1. a kind of in-orbit self-calibrating method of extraterrestrial target Relative Navigation vision measurement system, it is characterised in that steps are as follows：
(1) 2 coordinate system of 1 coordinate system of camera and camera is established, and establishes extraterrestrial target Relative Navigation vision measurement system model；
(2) camera 1, camera 2 shoot in one group of correspondence image in image sequence, two figure corresponding to same characteristic point
Picture point obtains the expression formula of extraterrestrial target Relative Navigation vision measurement system inside and outside parameter；
(3) the ideal constraint equation of inside and outside parameter expression formula is obtained by the characteristic of spin matrix；
(4) error function of construction ideal constraint equation optimizes preliminary acquisition space as object function by particle cluster algorithm
The partial parameters of target Relative Navigation vision measurement system construct object function, with n point pair so that object function obtains minimum
Value is optimization aim, optimizes to obtain the partial parameters inside and outside camera by particle cluster algorithm；
(5) it is based on extraterrestrial target Relative Navigation vision measurement system inside and outside parameter expression formula, obtains the value of transformation matrix of coordinates；It takes
The picture point pair of same characteristic point being mutually matched in corresponding target, obtains two image point coordinates and is based on spin matrix transformation side
Journey；
(6) it is based on spin matrix constraint equation fetching portion parameter, spin matrix transformation equation is based further on and obtains spin moment
Battle array R, the solution of the in-orbit above parameter of realization, and solve equation and all completed according to image sequence, that is, realize in-orbit self-calibration.
2. a kind of in-orbit self-calibrating method of extraterrestrial target Relative Navigation vision measurement system according to claim 1, special
Sign is：The detailed process that 2 coordinate system of 1 coordinate system of camera and camera is established in the step (1) is：
1 coordinate system X of camerac1Yc1Zc1Origin is in 1 optical center of camera, Zc1Along the vertical imaging plane of camera optical axis, Xc1With Yc1Respectively
The long wide direction of image that parallel camera 1 takes；2 coordinate system X of camerac2Yc2Zc2Origin is located at 2 optical center of camera, 2 coordinate system of camera
It is parallel with 1 coordinate system of camera, Zc2Along the vertical imaging plane of camera optical axis, Xc2With Yc2The long wide direction of parallel image respectively.
3. a kind of in-orbit self-calibrating method of extraterrestrial target Relative Navigation vision measurement system according to claim 2, special
Sign is：Extraterrestrial target Relative Navigation vision measurement system model is established in the step (1) includes：Target point is sat from camera 1
Coordinate transformation equation of the mark system to image coordinate system
Coordinate transformation equation of the target point from 2 coordinate system of camera to image coordinate system
The coordinate transformation equation of target point 1 coordinate system from world coordinate system to camera
The coordinate transformation equation of target point 1 coordinate system from world coordinate system to camera
Wherein i=1,2：
uiFor the abscissa on camera i images；
viFor the ordinate on camera i images；
fiFor the focal length of camera i；
λiFor the factor of the coordinate transformation equation of camera i coordinate systems to image coordinate system；
ui0For the abscissa of principal point on camera i images；
vi0For the ordinate of principal point on camera i images；
Xci、Yci、ZciFor coordinate system of the target point in camera i coordinate systems；
RiFor from world coordinate system to the transformation matrix of coordinates of camera i coordinate systems；
TiFrom world coordinate system to the translation vector of camera i coordinate systems；
Xw、Yw、ZwIt is target point in world coordinate system coordinate.
4. a kind of in-orbit self-calibrating method of extraterrestrial target Relative Navigation vision measurement system according to claim 2 or 3,
It is characterized in that：Two picture point corresponding to same characteristic point obtains extraterrestrial target Relative Navigation vision measurement in the step (2)
The expression formula of system inside and outside parameter is specially：
Wherein：
For the intrinsic parameter of camera i；
Ri、TiFor the outer parameter of camera.
5. a kind of in-orbit self-calibrating method of extraterrestrial target Relative Navigation vision measurement system according to claim 4, special
Sign is：The circular of step (3) the ideal constraint equation is：
According to spin matrix characteristic, for any spin matrix Ri, there are following relational expressions：
Wherein, the unit matrix amount that E is 3 × 3；
Inside and outside parameter expression formula is brought into spin matrix constraint equation to obtain：
For camera 1 and one group of corresponding point pair in the image sequence that camera 2 obtains, space coordinate is obtained in the ideal case
It is identical, the constraint equation for obtaining two image point coordinates is as follows：
6. a kind of in-orbit self-calibrating method of extraterrestrial target Relative Navigation vision measurement system according to claim 5, special
Sign is：The object function constructed in the step (4) is as follows：
7. a kind of in-orbit self-calibrating method of extraterrestrial target Relative Navigation vision measurement system according to claim 6, special
Sign is：It is as follows to be based on spin matrix transformation equation for two image point coordinates in the step (5)：
Wherein：
It is still changes in coordinates matrix, expression is two for the product of two cameras and the coordinates matrix of world coordinate system
The variation relation of camera coordinates system；
ui1、vi1：For put to i in 1 image of camera corresponding coordinate value；
ui2、vi2：For put to i in 2 image of camera corresponding coordinate value.
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| CN109470269A (en) * | 2018-11-08 | 2019-03-15 | 上海航天控制技术研究所 | Scaling method, calibration facility and the calibration system of extraterrestrial target measuring mechanism |
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| CN109470269A (en) * | 2018-11-08 | 2019-03-15 | 上海航天控制技术研究所 | Scaling method, calibration facility and the calibration system of extraterrestrial target measuring mechanism |
| CN109801338A (en) * | 2018-12-26 | 2019-05-24 | 北京空间飞行器总体设计部 | A kind of high robust space Relative Navigation target relative coordinate calculation method and system |
| CN109801338B (en) * | 2018-12-26 | 2020-08-14 | 北京空间飞行器总体设计部 | High-robustness space relative navigation target relative coordinate calculation method and system |
| CN110047110A (en) * | 2019-03-11 | 2019-07-23 | 北京空间飞行器总体设计部 | A kind of in-orbit vibration measurement method of flexible satellite antenna based on sequence image |
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| CN113160331B (en) * | 2021-04-20 | 2023-02-24 | 中国科学院空天信息创新研究院 | External parameter calibration method based on visual system imaging |
| CN114577208A (en) * | 2022-01-28 | 2022-06-03 | 北京空间飞行器总体设计部 | Navigation system error unified modeling method based on rotating reference coordinate system |
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