WO2016106961A1 - 一种多传感器融合的超近距离自主导航装置与方法 - Google Patents

一种多传感器融合的超近距离自主导航装置与方法 Download PDF

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WO2016106961A1
WO2016106961A1 PCT/CN2015/072696 CN2015072696W WO2016106961A1 WO 2016106961 A1 WO2016106961 A1 WO 2016106961A1 CN 2015072696 W CN2015072696 W CN 2015072696W WO 2016106961 A1 WO2016106961 A1 WO 2016106961A1
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binocular
infrared
visible light
image
sensor
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French (fr)
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张天序
凡速飞
陈一梦
药珩
李正涛
王正
黄伟
黄正华
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/244—Spacecraft control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/36—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
    • B64G1/646—Docking or rendezvous systems
    • B64G1/6462—Docking or rendezvous systems characterised by the means for engaging other vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
    • G01C3/14—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument with binocular observation at a single point, e.g. stereoscopic type
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G01S17/875—Combinations of systems using electromagnetic waves other than radio waves for determining attitude
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle

Definitions

  • the invention belongs to the field of space vision navigation technology, and more particularly to a multi-sensor fusion super-autonomous autonomous navigation device and method, which can be used for space rendezvous and docking of observation satellites, with flight and formation flight, relative navigation of space targets and Network formation, measurement of the characteristics of space objects in the process of spin motion or attitude adjustment in space, and autonomous image navigation in the process of observing satellites and space objects in the process of gradual approach.
  • Relative navigation is based on measuring relative distance and bearing information between spacecraft, and then determining relative position and attitude information.
  • Space transportation, manned spaceflight, on-orbit service, deep space exploration and other different space activities involve the determination, change and maintenance of the relative position and orientation of the spacecraft.
  • the success of any deep space exploration mission is based on deep space exploration.
  • the device is effectively navigated and controlled based on the completion.
  • Space vision navigation technology plays an important role in geophysical and global environmental exploration, optical imaging to the Earth, occultation of atmospheric exploration satellite constellations, space confrontation, satellite constellation, accompanying flight and formation flying.
  • the problems to be solved by spatial visual navigation include: 1. Detection of spatial location, direction, and environmental information; 2. Analysis, processing, and synthesis of information obtained; 3. Motion path planning.
  • the autonomous navigation method based on optics that is, the spacecraft relies on the airborne optical navigation device to independently complete the navigation task, and does not have any light or electric contact navigation mode with the outside world. Because of its autonomy, high precision, and good real-time performance, it has become a hot spot for scholars in various countries in recent years.
  • Optical-based autonomous navigation can reduce the complexity of operations, reduce the cost of tasks, simplify the ground support system of the detector, and greatly enhance the efficiency of deep space exploration, even under the condition that the detector and ground communication are completely interrupted.
  • optical-based autonomous navigation scheme is mainly divided into monocular vision navigation and binocular vision navigation, but due to the small field of view angle, limited detection range, occlusion in the field of view, etc., some information cannot be imaged onto the image plane. Lost, can not meet the needs of super close-range autonomous navigation tasks.
  • the present invention provides a multi-sensor fusion ultra-close-range autonomous navigation device and method, aiming at achieving autonomous navigation of a spatial target for a spatial target within a range of 200 meters.
  • the invention expands the field of view and the detection range, effectively solves the occlusion problem existing in the passive measurement, ensures the accuracy of the data measurement, improves the navigation efficiency, and the safety and reliability of the navigation.
  • an autonomous navigation device comprising: a sensor subsystem, an information fusion subsystem, a sensor scanning structure, and a pointing guiding structure; the sensor subsystem is installed On the pointing guiding structure, comprising first and second infrared imaging sensors, first and second visible light imaging sensors, and first to fifth laser ranging sensors;
  • the information fusion subsystem includes infrared information a processing board, a visible light information processing board, and a star server; the first and second infrared imaging sensors are respectively connected to the infrared information processing board through a bus, and the first and second visible light imaging sensors are respectively connected by a bus
  • the first to fifth laser ranging sensors are respectively connected to the star server, and the infrared information processing board and the visible light information processing board are respectively connected to the star through a bus a server;
  • the star server is configured to combine the binocular infrared images collected by the first and second infrared imaging sensors And capturing
  • the first visible light imaging sensor, the first infrared imaging sensor, the first laser ranging sensor, the second infrared imaging sensor and the second visible imaging sensor are sequentially disposed at The first visible light imaging sensor and the first infrared imaging sensor and the second infrared imaging sensor and the second visible light imaging sensor are symmetric with respect to the first laser ranging sensor on the same rail
  • the second to fifth laser ranging sensors are equal in distance from the first laser ranging sensor, and the second and third laser ranging sensors are symmetric with respect to the guide rail, the fourth and fifth The laser ranging sensor is symmetrical with respect to the rail.
  • a method for autonomous navigation using the above apparatus comprising the steps of: (1) first and second infrared imaging sensors collecting binocular infrared images, first sum
  • the second visible light imaging sensor collects the binocular visible image, and uses the binocular infrared image and the binocular visible image to detect and locate the spatial target, and obtains the relative distance between the navigation device and the spatial target; (2) determining the relative position of the navigation device and the spatial target If the distance is greater than 100m, the navigation device is advanced to the space target, and returns to step (1); otherwise, step (3) is sequentially performed; (3) the first and second infrared imaging sensors collect the binocular infrared image, the first sum
  • the second visible light imaging sensor collects binocular visible light images, and the first to fifth laser ranging sensors collect laser data, and use binocular infrared images, binocular visible light images and laser data to obtain three-dimensional structural information and three-dimensional distance information of the spatial target.
  • step (5) is sequentially performed; (5) the first to fifth laser ranging sensors collect laser data, and the laser data is used in combination with the steps.
  • step (3) The three-dimensional structural information and the three-dimensional motion parameters of the obtained spatial target are obtained, and the relative distance and relative attitude angle of the navigation device and the spatial target are obtained; (6) determining whether the relative attitude angle of the navigation device and the spatial target is 0, is the order Perform step (7); otherwise adjust the posture of the navigation device to reduce the navigation device and The relative attitude angle of the space target is returned to step (5); (7) the navigation device is advanced to the space target; (8) steps (5) to (7) are repeatedly performed until the navigation device reaches the space target, and the relative navigation process is completed.
  • the step (1) further comprises the following sub-steps: (1-1) the first and second infrared imaging sensors collect binocular infrared images, and the first and second visible light imaging sensors acquire binocular visible images, The binocular infrared image and the binocular visible image are respectively processed, the spatial target and the background are segmented, and the region of interest of the spatial target is obtained; (1-2) the spatial target contour is extracted, the spatial target contour is tracked, and the two-dimensional space target contour is calculated.
  • the coordinates of the center of the contour of the space target in the left visible light image and the right visible light image of the binocular visible image are (U 1 , V 1 ) and (U' 1 , V 1 '), respectively, thereby obtaining the spatial target in the double Center coordinates in the visible light image
  • the coordinates of the spatial target contour center in the left infrared image and the right infrared image of the binocular infrared image are (U 2 , V 2 ) and (U' 2 , V 2 '), respectively, and the spatial target is obtained in the binocular infrared image.
  • Center coordinates in The spatial distance of the spatial target relative to the navigation device is reconstructed according to (U 1 , V 1 ) and (U′ 1 , V 1 '); (1-3) calculating the central coordinate and imaging plane of the spatial target in the binocular visible image The distance between the center and the distance between the center coordinate of the spatial target in the binocular infrared image and the center of the imaging plane, adjust the attitude of the navigation device so that the center of the contour of the space target is close to the center of the imaging plane; (1-4) Determine the center of the contour of the space target Whether it is in the central area of the imaging plane, the detection and positioning of the spatial target is completed; otherwise, steps (1-1) to (1-3) are repeatedly performed until the center of the spatial target contour falls in the central area of the imaging plane.
  • the step (3) further comprises the following sub-steps: (3-1) the first and second infrared imaging sensors acquire binocular infrared images, and the first and second visible light imaging sensors acquire binocular visible images,
  • the first to fifth laser ranging sensors collect laser data; (3-2) respectively detect the line segment and corner feature in the binocular infrared image and the binocular visible image, and obtain the feature points and binocular visible light in the binocular infrared image.
  • the first and second infrared imaging sensors acquire a binocular infrared sequence image
  • the first and second visible light imaging sensors acquire a binocular visible light sequence image, and match the left infrared sequence image of the binocular infrared sequence image and the right
  • the feature points in the infrared sequence image match the feature points in the left visible light sequence image and the right visible light sequence image of the binocular visible light sequence image to obtain a three-dimensional motion parameter of the spatial target.
  • the step (5) further comprises the following sub-steps: (5-1) the first to fifth laser ranging sensors respectively measure their distances relative to the spatial target; (5-2) according to the first to fifth The relative distance between the laser ranging sensor and the spatial target is combined with the three-dimensional structural information and the three-dimensional motion parameter of the spatial target obtained in step (3) to calculate the relative attitude angles of the first to fifth laser ranging sensors and the spatial target respectively; 5-3) Weighting and averaging the relative distances and relative attitude angles of the first to fifth laser ranging sensors and the spatial targets, respectively, to obtain the relative distance and relative attitude angle of the navigation device and the spatial target.
  • the visible light imaging sensor can acquire the apparent appearance information of the spatial target with illumination, and the imaging effect is closest to the human eye's vision, so the information on the visible light image is the most intuitive and most interesting. For example, some corner information, side information, topology, etc. are the main morphological features of the algorithm. However, when the illumination is not ideal or there is no illumination, the morphological features included in the visible image may be incomplete or non-existent. In some cases, pseudo features may even appear, which brings the implementation of the preprocessing and reconstruction algorithms. difficult.
  • the present invention compensates for the aforementioned deficiencies of visible light imaging sensors by means of infrared imaging sensors.
  • the space target may not be exposed to sunlight, but as long as it is in operation, its internal engine and processor radiate heat outward and image on the infrared camera. And, there is sun light In the case of shooting, the temperature of the spatial target is different from that of the light side.
  • the infrared image can reflect certain poses and surface features of the spatial target, and complements the morphological features in the visible image.
  • the infrared image formed by the infrared imaging sensor has low clarity, the integrity of the target morphological feature is low, and the feature extraction is difficult.
  • the present invention compensates for the above-mentioned shortcomings of the infrared image by the obvious morphological features of the visible light image formed by the visible light imaging sensor. .
  • the autonomous navigation device is equipped with a pointing guiding structure, and the binocular visible light imaging sensor is equipped with a scanning structure, and the pointing guiding structure of the autonomous navigation device can realize the adjustment of the field of view of the autonomous navigation device, effectively solving the monocular and double In the visual navigation, there are problems such as small field of view and limited detection range.
  • the scanning structure of the binocular visible light sensor effectively solves the problem of occlusion of the passive measurement navigation method;
  • the active measurement method composed of the laser ranging sensor, laser measurement Simultaneously obtaining the distance information of five feature points located in a rectangular area on the measured surface of the space target from the sensor array, avoiding the disadvantages of the scanning mechanism, and obtaining the distance parameter of the target satellite through data processing can also be calculated through calculation
  • the surface shape of the measured area can analyze the real-time distance information and the tilt angle of the interface on the interface where the interface is located relative to the space target.
  • the autonomous navigation process is roughly divided into three stages: the long-distance segment adopts the combination of binocular visible imaging sensor and binocular infrared imaging sensor, and the close-range segment uses binocular visible imaging sensor and binocular infrared imaging sensitivity.
  • FIG. 1 is a schematic structural diagram of a super close-range autonomous navigation device according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of a sensor subsystem
  • FIG. 3 is a schematic diagram of hardware connection of a super close-range autonomous navigation device according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of a laser ranging sensor array
  • FIG. 5 is a schematic flowchart of a method for a super close distance autonomous navigation according to an embodiment of the present invention
  • 6 is a flow chart of detecting and positioning a long-range segment space target
  • FIG. 7 is a flow chart of three-dimensional structural motion analysis of a spatial target at a close range
  • FIG. 8 is a flow chart of obtaining a relative distance and a relative attitude angle of a navigation device from a spatial target in a very close range
  • Figure 9 is a schematic diagram of laser ranging angle measurement.
  • a super close-range autonomous navigation device includes: a sensor subsystem, an information fusion subsystem, a sensor scanning structure, and a pointing guiding structure; wherein the sensor subsystem is mounted on the guiding guiding structure .
  • the sensor subsystem includes first and second infrared imaging sensors, first and second visible light imaging sensors, and first to fifth laser ranging sensors.
  • the first visible light imaging sensor, the first infrared imaging sensor, the first laser ranging sensor, the second infrared imaging sensor and the second visible imaging sensor are sequentially disposed on the same rail, the first visible light imaging sensor and the first
  • the infrared imaging sensor is symmetrical with the second infrared imaging sensor and the second visible light imaging sensor with respect to the first laser ranging sensor.
  • the second to fifth laser ranging sensors are equidistant from the first laser ranging sensor, the second and third laser ranging sensors are symmetrical with respect to the guide rail, and the fourth and fifth laser ranging sensors are symmetrical with respect to the guide rail.
  • the information fusion subsystem includes an infrared information processing board, a visible light information processing board, and a star server.
  • the first and second infrared imaging sensors are respectively connected to the infrared information processing board through a bus
  • the first and second visible light imaging sensors are respectively connected to the visible light information processing board through the bus
  • the first to fifth lasers are respectively connected to the star server
  • the infrared information processing board and the visible light information processing board are respectively connected to the star server via the bus.
  • the infrared information processing board collects binocular infrared images in real time through the first and second infrared imaging sensors
  • the visible light information processing board collects binocular visible images through the first and second visible light imaging sensors in real time
  • the star server passes through the first to the first
  • the five laser ranging sensors collect laser data (distances of the first to fifth laser ranging sensors with respect to the spatial target), and respectively process the binocular infrared image and the binocular visible image by using the infrared information processing board and the visible light information processing board respectively.
  • the three-dimensional structure information and attitude information of the space object are combined with the relative distance and inclination information obtained by processing the laser data, and a control command for causing the sensor subsystem to perform posture adjustment is transmitted.
  • the sensor scanning structure includes first and second rotating stages, and the first and second visible light imaging sensors are respectively mounted on the first and second rotating stages, and the first and second rotating stages are respectively mounted on the guide rails.
  • the first and second rotating stages are respectively connected to the star server, and the first and second rotating stage rotations are controlled by the star server to enable the first and second visible light imaging sensors to achieve spatial object scanning within the field of view.
  • the pointing guiding structure includes a two-degree-of-freedom pan/tilt head and a pan/tilt servo controller.
  • the PTZ servo controller is connected to the star server for receiving control commands from the star server, and controls the two-degree-of-freedom pan/tilt to perform attitude adjustment on two degrees of freedom, thereby causing the sensor subsystem to perform posture adjustment.
  • the visible light imaging sensor can obtain the apparent appearance information of the spatial target with illumination, and the imaging effect is closest to the human eye. Therefore, the information on the visible light image is the most intuitive and most interesting, and the infrared imaging sensor can make up. In the case of unsatisfactory illumination or no illumination, the morphological features of the visible light image are incomplete, non-existent or have pseudo-feature defects.
  • the above device combines the visible light imaging sensor with the infrared imaging sensor, effectively solving one of the single use. The problem with the navigation method.
  • the passive measurement method is combined with the active measurement method composed of the laser ranging sensor, wherein the autonomous navigation device is equipped with a pointing guiding structure, the binocular visible imaging sensor is equipped with a sensor scanning structure, and the pointing guiding structure of the autonomous navigation device can The adjustment of the duration of the autonomous navigation device can effectively solve the problems of small field of view and limited detection range in monocular and binocular navigation.
  • the sensor scanning structure of the binocular visible light sensor effectively solves the passive measurement navigation.
  • the laser ranging sensor array composed of the first to fifth laser ranging sensors simultaneously acquires the space target on the surface to be measured.
  • Distance information of five feature points in a rectangular area avoids scanning mechanism.
  • the disadvantages are that not only the distance parameter of the target satellite can be obtained through data processing, but also the surface morphology of the measured area can be fitted by calculation. Especially when the distance is short, the interface of the interface with respect to the spatial target can be analyzed. Real-time distance information and tilt angle.
  • the method for implementing ultra-close distance autonomous navigation by using the above device includes the following steps:
  • the first and second infrared imaging sensors collect binocular infrared images
  • the first and second visible light imaging sensors collect binocular visible images, and use binocular infrared images and binocular visible images to detect and locate spatial targets, The relative distance between the navigation device and the space target is obtained.
  • step (3) determining whether the relative distance between the navigation device and the space target is greater than 100 m, if the navigation device is advanced to the space target, returning to step (1); otherwise, performing step (3) in sequence.
  • the first and second infrared imaging sensors collect binocular infrared images
  • the first and second visible light imaging sensors acquire binocular visible images
  • the first to fifth laser ranging sensors collect laser data, using binocular infrared
  • the image, the binocular visible light image and the laser data obtain three-dimensional structural information, three-dimensional distance information and three-dimensional motion parameters of the spatial target.
  • step (5) Judging the relative position of the navigation device and the space target based on the three-dimensional distance information of the space target If the distance is greater than 20m, the navigation device is advanced to the space target, and the process returns to step (3); otherwise, step (5) is sequentially performed.
  • the first to fifth laser ranging sensors collect laser data, and use the laser data to combine the three-dimensional structural information and the three-dimensional motion parameters of the spatial target obtained in step (3) to obtain the relative distance and relative posture of the navigation device and the space target. angle.
  • step (6) determining whether the relative attitude angle of the navigation device and the space object is 0, if yes, performing step (7); otherwise, adjusting the posture of the navigation device, reducing the relative attitude angle of the navigation device and the space target, and returning to step (5) .
  • Steps (5) to (7) are repeatedly performed until the navigation device reaches the space target, and the relative navigation process is completed.
  • step (1) further includes the following sub-steps:
  • the first and second infrared imaging sensors collect binocular infrared images, and the first and second visible light imaging sensors acquire binocular visible images, respectively process binocular infrared images and binocular visible images, and segment spatial targets With the background, get the area of interest of the space target.
  • (1-2) Extract the spatial target contour, track the spatial target contour, calculate the two-dimensional graphics center of the spatial target contour, and obtain the coordinates of the spatial target contour center in the left visible light image and the right visible light image of the binocular visible image respectively.
  • (U 1 , V 1 ) and (U' 1 , V 1 ') thereby obtaining the central coordinates of the spatial target in the binocular visible image
  • the coordinates of the spatial target contour center in the left infrared image and the right infrared image of the binocular infrared image are (U 2 , V 2 ) and (U' 2 , V 2 '), respectively, and the spatial target is obtained in the binocular infrared image.
  • Center coordinates in The spatial distance of the spatial target relative to the navigation device is reconstructed from (U 1 , V 1 ) and (U' 1 , V 1 ').
  • (1-3) Calculate the distance between the center coordinate of the spatial target in the binocular visible image and the center of the imaging plane, and the distance between the center coordinate of the spatial target in the binocular infrared image and the center of the imaging plane, and adjust the posture of the navigation device so that The center of the space target contour is near the center of the imaging plane.
  • step (3) further includes the following sub-steps:
  • the first and second infrared imaging sensors acquire binocular infrared images
  • the first and second visible light imaging sensors acquire binocular visible light images
  • the first to fifth laser ranging sensors collect laser data.
  • the first and second infrared imaging sensors acquire a binocular infrared sequence image
  • the first and second visible light imaging sensors acquire a binocular visible light sequence image, and match the left infrared sequence image of the binocular infrared sequence image and the right
  • the feature points in the infrared sequence image match the feature points in the left visible light sequence image and the right visible light sequence image of the binocular visible light sequence image to obtain a three-dimensional motion parameter of the spatial target.
  • step (5) further includes the following sub-steps:
  • the first to fifth laser ranging sensors measure their distances from the space target, respectively.
  • a long-distance segment adopts a combination of a binocular visible image sensor and a binocular infrared imaging sensor
  • a close-range segment uses a binocular visible image sensor and a binocular infrared imaging sensor.
  • the navigation method combined with the laser ranging sensor array adopts the navigation method of the laser ranging sensor array in the very close range. Different components are used for data measurement at different distances, and a plurality of component navigation modes are adopted in the long-distance section and the close-range section, thereby ensuring the accuracy of data measurement, improving navigation efficiency, and safety and reliability of navigation.
  • the laser ranging sensor array composed of the first to fifth laser ranging sensors is activated for measurement,
  • the laser ranging sensor array is used to simultaneously acquire the distance information of five feature points on the surface of the space target.
  • the data can be used to obtain not only the distance parameter of the target satellite but also the surface morphology of the measured area, especially the close range.
  • the real-time distance information and the tilt angle of the interface on the interface of the interface with respect to the space target pair interface can be analyzed.

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Abstract

一种多传感器融合的超近距离自主导航装置与方法。该装置包括传感器子系统、信息融合子系统、敏感器扫描结构和指向导引结构，将可见光成像敏感器与红外成像敏感器结合，并结合光学成像敏感器组成的被动式测量方式与激光测距传感器组成的主动式测量方式获取数据。自主导航分为三个阶段：远距离段采用双目可见光成像敏感器和双目红外成像敏感器组合的导航方式，近距离段采用双目可见光成像敏感器、双目红外成像敏感器和激光测距传感器阵列组合的导航方式，极近距离段采用激光测距传感器阵列的导航方式。

Description

一种多传感器融合的超近距离自主导航装置与方法 [技术领域]
本发明属于空间视觉导航技术领域，更具体地，涉及一种多传感器融合的超近距离自主导航装置与方法，可用于观测卫星的空间交会对接，伴随飞行与编队飞行，空间目标的相对导航和组网编队，在太空中处于自旋运动或姿态调节过程中的空间物体的特性测量，以及观测卫星与空间物体在逐渐靠近过程中的自主图像导航。
[背景技术]
相对导航是以测量航天器之间的相对距离、方位信息为基础，进而确定出相对位置和姿态信息。空间运输、载人航天、在轨服务、深空探测等不同的航天活动都涉及到航天器相对位置和方位的确定、变化与保持，任何深空探测任务的成功都是建立在对深空探测器有效导航与控制的基础上完成的。在地球物理与地球环境探测、对地光学成像、掩星大气探测卫星星座、空间对抗、卫星星座、伴随飞行与编队飞行等应用中，空间视觉导航技术占据着至关重要的地位。
空间视觉导航要解决的问题包括：一、空间位置、方向、环境信息的检测；二、所获信息的分析、处理及综合；三、运动路径规划。基于光学的自主导航方式，即航天器依靠机载光学导航设备，自主地完成导航任务，不和外界发生任何光、电联系的导航方式。由于其具有自主性强、精度高、实时性好等优点，成为近年来各国学者研究的热点。基于光学的自主导航能减少操作的复杂性，降低任务的费用，简化探测器的地面支持系统，大大增强深空探测的效率，即使在探测器与地面通信联络完全中断的条件下，仍然能够完成轨道确定、轨道保持、姿态控制等日常功能，扩大了探测器在空间的应用潜力。在超近距离导航过程中，主要是基于光学的自主导航 方案，基于光学的自主导航方案主要分为单目视觉导航和双目视觉导航，但由于视场角较小，探测范围有限，视野中存在遮挡等，造成部分信息因不能成像到像平面上而丢失，无法满足超近距离自主导航任务的需要。
[发明内容]
针对现有技术的以上缺陷或改进需求，本发明提供了一种多传感器融合的超近距离自主导航装置与方法，目的是针对200米范围内的空间目标，实现对空间目标的自主导航。本发明扩大了视场和探测范围，有效解决了被动式测量存在的遮挡问题，保证了数据测量的精度，提高了导航效率，以及导航的安全性和可靠性。
为实现上述目的，按照本发明的一个方面，提供了一种自主导航装置，其特征在于，包括传感器子系统、信息融合子系统、敏感器扫描结构和指向导引结构；所述传感器子系统安装在所述指向导引结构上，包括第一和第二红外成像敏感器，第一和第二可见光成像敏感器，以及第一至第五激光测距传感器；所述信息融合子系统包括红外信息处理板、可见光信息处理板和星务服务器；所述第一和第二红外成像敏感器分别通过总线连接至所述红外信息处理板，所述第一和第二可见光成像敏感器分别通过总线连接至所述可见光信息处理板，所述第一至第五激光测距传感器分别连接至所述星务服务器，所述红外信息处理板和所述可见光信息处理板分别通过总线连接至所述星务服务器；所述星务服务器用于结合所述第一和第二红外成像敏感器采集的双目红外图像，所述第一和第二可见光成像敏感器采集的双目可见光图像，以及所述第一至第五激光测距传感器采集的激光数据，发送使所述传感器子系统进行姿态调整的控制指令；所述敏感器扫描结构包括连接至所述星务服务器的第一和第二旋转台，所述第一和第二可见光成像敏感器分别安装在所述第一和第二旋转台上，通过所述星务服务器控制所述第一和第二旋转台转动，使所述第一和第二可见光成像敏感器实现视场范围内的空间目标扫描；所述指向导引结构包括二自由度云台和 云台伺服控制器；所述云台伺服控制器连接至所述星务服务器，用于接收来所述自星务服务器的控制指令，控制所述二自由度云台进行姿态调整，从而使所述传感器子系统进行姿态调整。
优选地，所述第一可见光成像敏感器、所述第一红外成像敏感器、所述第一激光测距传感器、所述第二红外成像敏感器和所述第二可见光成像敏感器依次设置在同一导轨上，所述第一可见光成像敏感器和所述第一红外成像敏感器与所述第二红外成像敏感器和所述第二可见光成像敏感器相对于所述第一激光测距传感器对称；所述第二至第五激光测距传感器到所述第一激光测距传感器的距离相等，所述第二和第三激光测距传感器相对于所述导轨对称，所述第四和第五激光测距传感器相对于所述导轨对称。
按照本发明的另一方面，提供了一种用上述装置进行自主导航的方法，其特征在于，包括如下步骤：(1)第一和第二红外成像敏感器采集双目红外图像，第一和第二可见光成像敏感器采集双目可见光图像，利用双目红外图像和双目可见光图像，检测并定位空间目标，得到导航装置与空间目标的相对距离；(2)判断导航装置与空间目标的相对距离是否大于100m，是则将导航装置向空间目标推进，返回步骤(1)；否则顺序执行步骤(3)；(3)第一和第二红外成像敏感器采集双目红外图像，第一和第二可见光成像敏感器采集双目可见光图像，第一至第五激光测距传感器采集激光数据，利用双目红外图像、双目可见光图像和激光数据，得到空间目标的三维结构信息、三维距离信息和三维运动参数；(4)根据空间目标的三维距离信息，判断导航装置与空间目标的相对距离是否大于20m，是则将导航装置向空间目标推进，返回步骤(3)；否则顺序执行步骤(5)；(5)第一至第五激光测距传感器采集激光数据，利用激光数据，结合步骤(3)得到的空间目标的三维结构信息和三维运动参数，得到导航装置与空间目标的相对距离和相对姿态角；(6)判断导航装置与空间目标的相对姿态角是否为0，是则顺序执行步骤(7)；否则调整导航装置的姿态，减小导航装置与 空间目标的相对姿态角，返回步骤(5)；(7)将导航装置向空间目标推进；(8)重复执行步骤(5)至(7)，直至导航装置到达空间目标，完成相对导航过程。
优选地，所述步骤(1)进一步包括如下子步骤：(1-1)第一和第二红外成像敏感器采集双目红外图像，第一和第二可见光成像敏感器采集双目可见光图像，分别处理双目红外图像和双目可见光图像，分割空间目标与背景，得到空间目标的感兴趣区域；(1-2)提取空间目标轮廓，对空间目标轮廓进行跟踪，计算空间目标轮廓的二维图形中心，得到空间目标轮廓中心在双目可见光图像的左可见光图像和右可见光图像中的坐标分别为(U1,V1)和(U′1,V1′)，进而得到空间目标在双目可见光图像中的中心坐标
Figure PCTCN2015072696-appb-000001
得到空间目标轮廓中心在双目红外图像的左红外图像和右红外图像中的坐标分别为(U2,V2)和(U′2,V2′)，进而得到空间目标在双目红外图像中的中心坐标
Figure PCTCN2015072696-appb-000002
根据(U1,V1)和(U′1,V1′)重建出空间目标相对于导航装置的空间距离；(1-3)计算空间目标在双目可见光图像中的中心坐标与成像平面中心的距离，以及空间目标在双目红外图像中的中心坐标与成像平面中心的距离，调整导航装置的姿态，使空间目标轮廓中心靠近成像平面中心区域；(1-4)判断空间目标轮廓中心是否在成像平面中心区域，是则完成空间目标的检测定位；否则重复执行步骤(1-1)至(1-3)，直至空间目标轮廓中心落在成像平面中心区域。
优选地，所述步骤(3)进一步包括如下子步骤：(3-1)第一和第二红外成像敏感器采集双目红外图像，第一和第二可见光成像敏感器采集双目可见光图像，第一至第五激光测距传感器采集激光数据；(3-2)分别检测双目红外图像和双目可见光图像中的线段和角点特征，得到双目红外图像中的特征点和双目可见光图像中的特征点；(3-3)匹配双目红外图像的左红外图像和右红外图像中的特征点，匹配双目可见光图像的左可见光图像 和右可见光图像中的特征点，重建空间目标的三维结构信息和三维距离信息；(3-4)利用第一至第五激光测距传感器采集的激光数据校正重建的空间目标的三维距离信息；(3-5)第一和第二红外成像敏感器采集双目红外序列图像，第一和第二可见光成像敏感器采集双目可见光序列图像，匹配双目红外序列图像的左红外序列图像和右红外序列图像中的特征点，匹配双目可见光序列图像的左可见光序列图像和右可见光序列图像中的特征点，得到空间目标的三维运动参数。
优选地，所述步骤(5)进一步包括如下子步骤：(5-1)第一至第五激光测距传感器分别测量其相对于空间目标的距离；(5-2)根据第一至第五激光测距传感器与空间目标的相对距离，结合步骤(3)得到的空间目标的三维结构信息和三维运动参数，分别解算出第一至第五激光测距传感器与空间目标的相对姿态角；(5-3)分别将第一至第五激光测距传感器与空间目标的相对距离和相对姿态角加权平均，得到导航装置与空间目标的相对距离和相对姿态角。
总体而言，通过本发明所构思的以上技术方案与现有技术相比，具有以下有益效果：
1、将可见光成像敏感器与红外成像敏感器结合，有效解决了单独使用其中之一的导航方式存在的问题。首先，可见光成像敏感器能获取有光照时空间目标的形态表观信息，其成像效果最接近人眼的视觉，因此可见光图像上的信息是最直观，最感兴趣的。例如某些角点信息、边信息、拓扑结构等，都是算法中主要依赖的形态特征。但是，当光照情况不理想，或者没有光照的时候，可见光图像中包括的形态特征会不完整或者不存在，在某些情况下，甚至会出现伪特征，给预处理和重建算法的实现带来困难。本发明通过红外成像敏感器来弥补可见光成像敏感器的上述不足。空间目标可能不在太阳光照射条件下，但是只要它在运转之中，其内部发动机和处理器就会向外辐射热量，在红外相机上就会成像。而且，在有太阳光照 射的情况下，空间目标的向光一面和被光一面的温度不同，红外图像能反映空间目标的某些姿态和表面特征，与可见光图像中的形态特征相辅相成。其次，红外成像敏感器形成的红外图像清晰程度低，目标形态特征表达的完整性低，特征提取难度大，本发明通过可见光成像敏感器形成的可见光图像的明显形态特征来弥补红外图像的上述不足。
2、采用了双目可见光成像敏感器、双目红外成像敏感器和激光测距传感器阵列进行组合导航的方式，结合光学成像敏感器组成的被动式测量方式与激光测距传感器组成的主动式测量方式。其中，自主导航装置配备有指向导引结构，双目可见光成像敏感器配备有扫描结构，自主导航装置的指向导引结构可实现自主导航装置的视场范围的调整，有效解决了单目和双目导航中存在的视场小、探测范围有限等问题，双目可见光成像敏感器的扫描结构有效解决被动式测量的导航方式的遮挡等问题；对于激光测距传感器组成的主动式测量方式，激光测距传感器阵列同时获取空间目标被测表面上位于一个矩形面积内的五个特征点的距离信息，避免了扫描机构存在的弊端，通过数据处理不仅得到目标卫星的距离参数还可以通过计算拟合出被测区域的表面形态，特别是近距离时，可以分析出导航装置对接口所在面相对于空间目标对接口所在面的实时距离信息和倾斜角度。
3、自主导航过程大致分为三个阶段：远距离段采用双目可见光成像敏感器和双目红外成像敏感器组合的导航方式，近距离段采用双目可见光成像敏感器、双目红外成像敏感器和激光测距传感器阵列组合的导航方式，极近距离段采用激光测距传感器阵列的导航方式。在不同的距离采用不同的元件进行数据测量，在远距离段和近距离段采用多种元件组合的导航方式，保证了数据测量的精度，提高了导航效率，以及导航的安全性和可靠性。
[附图说明]
图1是本发明实施例的超近距离自主导航装置的结构示意图；
图2是传感器子系统的结构示意图；
图3是本发明实施例的超近距离自主导航装置的硬件连接示意图；
图4是激光测距传感器阵列示意图；
图5是本发明实施例的超近距离自主导航方法的流程示意图；
图6是远距离段空间目标的检测定位流程图；
图7是近距离段空间目标的三维结构运动分析流程图；
图8是极近距离段获取导航装置与空间目标的相对距离和相对姿态角的流程图；
图9是激光测距测角示意图。
[具体实施方式]
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。
如图1所示，本发明实施例的超近距离自主导航装置包括：传感器子系统、信息融合子系统、敏感器扫描结构和指向导引结构；其中，传感器子系统安装在指向导引结构上。
如图2所示，传感器子系统包括第一和第二红外成像敏感器，第一和第二可见光成像敏感器，以及第一至第五激光测距传感器。第一可见光成像敏感器、第一红外成像敏感器、第一激光测距传感器、第二红外成像敏感器和第二可见光成像敏感器依次设置在同一导轨上，第一可见光成像敏感器和第一红外成像敏感器与第二红外成像敏感器和第二可见光成像敏感器相对于第一激光测距传感器对称。第二至第五激光测距传感器到第一激光测距传感器的距离相等，第二和第三激光测距传感器相对于导轨对称，第四和第五激光测距传感器相对于导轨对称。
信息融合子系统包括红外信息处理板、可见光信息处理板和星务服务器。如图3所示，第一和第二红外成像敏感器分别通过总线连接至红外信息处理板，第一和第二可见光成像敏感器分别通过总线连接至可见光信息处理板，第一至第五激光测距传感器分别连接至星务服务器；红外信息处理板和可见光信息处理板分别通过总线连接至星务服务器。红外信息处理板通过第一和第二红外成像敏感器实时采集双目红外图像，可见光信息处理板通过第一和第二可见光成像敏感器实时采集双目可见光图像，星务服务器通过第一至第五激光测距传感器采集激光数据(第一至第五激光测距传感器相对于空间目标的距离)，并分别利用红外信息处理板和可见光信息处理板处理双目红外图像和双目可见光图像，得到空间目标的三维结构信息及姿态信息，结合处理激光数据得到的相对距离和倾角信息，发送使传感器子系统进行姿态调整的控制指令。
敏感器扫描结构包括第一和第二旋转台，第一和第二可见光成像敏感器分别安装在第一和第二旋转台上，第一和第二旋转台分别安装在导轨上。第一和第二旋转台分别连接至星务服务器，通过星务服务器控制第一和第二旋转台转动，使第一和第二可见光成像敏感器实现视场范围内的空间目标扫描。
指向导引结构包括二自由度云台和云台伺服控制器。云台伺服控制器连接至星务服务器，用于接收来自星务服务器的控制指令，控制二自由度云台在两个自由度上进行姿态调整，从而使传感器子系统进行姿态调整。
首先，可见光成像敏感器能获取有光照时空间目标的形态表观信息，其成像效果最接近人眼的视觉，因此可见光图像上的信息是最直观，最感兴趣的，红外成像敏感器能弥补在光照情况不理想或者没有光照的情况下可见光图像的形态特征不完整、不存在或出现伪特征的缺陷，上述装置将可见光成像敏感器与红外成像敏感器结合，有效解决了单独使用其中之一的导航方式存在的问题。其次，利用第一和第二可见光成像敏感器组成的 双目可见光成像敏感器，第一和第二红外成像敏感器组成的双目红外成像敏感器，以及第一至第五激光测距传感器组成的激光测距传感器阵列，将光学成像敏感器组成的被动式测量方式与激光测距传感器组成的主动式测量方式结合，其中，自主导航装置配备有指向导引结构，双目可见光成像敏感器配备有敏感器扫描结构，自主导航装置的指向导引结构能实现自主导航装置的时长范围的调整，有效解决了单目和双目导航中存在的视场小、探测范围有限等问题，双目可见光成像敏感器的敏感器扫描结构有效解决了被动式测量的导航方式的遮挡等问题；对于激光测距传感器组成的主动式测量方式，如图4所示，第一至第五激光测距传感器组成的激光测距传感器阵列同时获取空间目标被测表面上位于一个矩形面积内的五个特征点的距离信息，避免了扫描机构存在的弊端，通过数据处理不仅得到目标卫星的距离参数还可以通过计算拟合出被测区域的表面形态，特别是近距离时，可以分析出导航装置对接口所在面相对于空间目标对接口所在面的实时距离信息和倾斜角度。
如图5所示，利用上述装置实现超近距离自主导航的方法包括如下步骤：
(1)第一和第二红外成像敏感器采集双目红外图像，第一和第二可见光成像敏感器采集双目可见光图像，利用双目红外图像和双目可见光图像，检测并定位空间目标，得到导航装置与空间目标的相对距离。
(2)判断导航装置与空间目标的相对距离是否大于100m，是则将导航装置向空间目标推进，返回步骤(1)；否则顺序执行步骤(3)。
(3)第一和第二红外成像敏感器采集双目红外图像，第一和第二可见光成像敏感器采集双目可见光图像，第一至第五激光测距传感器采集激光数据，利用双目红外图像、双目可见光图像和激光数据，得到空间目标的三维结构信息、三维距离信息和三维运动参数。
(4)根据空间目标的三维距离信息，判断导航装置与空间目标的相对 距离是否大于20m，是则将导航装置向空间目标推进，返回步骤(3)；否则顺序执行步骤(5)。
(5)第一至第五激光测距传感器采集激光数据，利用激光数据，结合步骤(3)得到的空间目标的三维结构信息和三维运动参数，得到导航装置与空间目标的相对距离和相对姿态角。
(6)判断导航装置与空间目标的相对姿态角是否为0，是则顺序执行步骤(7)；否则调整导航装置的姿态，减小导航装置与空间目标的相对姿态角，返回步骤(5)。
(7)将导航装置向空间目标推进。
(8)重复执行步骤(5)至(7)，直至导航装置到达空间目标，完成相对导航过程。
如图6所示，上述步骤(1)进一步包括如下子步骤：
(1-1)第一和第二红外成像敏感器采集双目红外图像，第一和第二可见光成像敏感器采集双目可见光图像，分别处理双目红外图像和双目可见光图像，分割空间目标与背景，得到空间目标的感兴趣区域。
(1-2)提取空间目标轮廓，对空间目标轮廓进行跟踪，计算空间目标轮廓的二维图形中心，得到空间目标轮廓中心在双目可见光图像的左可见光图像和右可见光图像中的坐标分别为(U1,V1)和(U′1,V1′)，进而得到空间目标在双目可见光图像中的中心坐标
Figure PCTCN2015072696-appb-000003
得到空间目标轮廓中心在双目红外图像的左红外图像和右红外图像中的坐标分别为(U2,V2)和(U′2,V2′)，进而得到空间目标在双目红外图像中的中心坐标
Figure PCTCN2015072696-appb-000004
根据(U1,V1)和(U′1,V1′)重建出空间目标相对于导航装置的空间距离。
(1-3)计算空间目标在双目可见光图像中的中心坐标与成像平面中心的距离，以及空间目标在双目红外图像中的中心坐标与成像平面中心的距离，调整导航装置的姿态，使空间目标轮廓中心靠近成像平面中心区域。
(1-4)判断空间目标轮廓中心是否在成像平面中心区域，是则完成空间目标的检测定位；否则重复执行步骤(1-1)至(1-3)，直至空间目标轮廓中心落在成像平面中心区域。
如图7所示，上述步骤(3)进一步包括如下子步骤：
(3-1)第一和第二红外成像敏感器采集双目红外图像，第一和第二可见光成像敏感器采集双目可见光图像，第一至第五激光测距传感器采集激光数据。
(3-2)分别检测双目红外图像和双目可见光图像中的线段和角点特征，得到双目红外图像中的特征点和双目可见光图像中的特征点。
(3-3)匹配双目红外图像的左红外图像和右红外图像中的特征点，匹配双目可见光图像的左可见光图像和右可见光图像中的特征点，重建空间目标的三维结构信息和三维距离信息。
(3-4)利用第一至第五激光测距传感器采集的激光数据校正重建的空间目标的三维距离信息。
(3-5)第一和第二红外成像敏感器采集双目红外序列图像，第一和第二可见光成像敏感器采集双目可见光序列图像，匹配双目红外序列图像的左红外序列图像和右红外序列图像中的特征点，匹配双目可见光序列图像的左可见光序列图像和右可见光序列图像中的特征点，得到空间目标的三维运动参数。
如图8所示，上述步骤(5)进一步包括如下子步骤：
(5-1)第一至第五激光测距传感器分别测量其相对于空间目标的距离。
(5-2)根据第一至第五激光测距传感器与空间目标的相对距离，结合步骤(3)得到的空间目标的三维结构信息和三维运动参数，分别解算出第一至第五激光测距传感器与空间目标的相对姿态角，如图9所示。
(5-3)分别将第一至第五激光测距传感器与空间目标的相对距离和相对姿态角加权平均，得到导航装置与空间目标的相对距离和相对姿态角。
上述自主导航过程大致分为三个阶段：远距离段采用双目可见光成像敏感器和双目红外成像敏感器组合的导航方式，近距离段采用双目可见光成像敏感器、双目红外成像敏感器和激光测距传感器阵列组合的导航方式，极近距离段采用激光测距传感器阵列的导航方式。在不同的距离采用不同的元件进行数据测量，在远距离段和近距离段采用多种元件组合的导航方式，保证了数据测量的精度，提高了导航效率，以及导航的安全性和可靠性。当自主导航装置通过双目红外成像敏感器和双目可见光成像敏感器检测到距离100米范围内的空间目标时，启动第一至第五激光测距传感器组成的激光测距传感器阵列进行测量，采用激光测距传感器阵列同时获取空间目标被测表面上五个特征点的距离信息，通过数据处理不仅得到目标卫星的距离参数还可以通过计算拟合出被测区域的表面形态，特别是近距离时，可以分析出导航装置对接口所在面相对于空间目标对接口所在面的实时距离信息和倾斜角度。
本领域的技术人员容易理解，以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (6)

  1. 一种自主导航装置，其特征在于，包括传感器子系统、信息融合子系统、敏感器扫描结构和指向导引结构；
    所述传感器子系统安装在所述指向导引结构上，包括第一和第二红外成像敏感器，第一和第二可见光成像敏感器，以及第一至第五激光测距传感器；
    所述信息融合子系统包括红外信息处理板、可见光信息处理板和星务服务器；所述第一和第二红外成像敏感器分别通过总线连接至所述红外信息处理板，所述第一和第二可见光成像敏感器分别通过总线连接至所述可见光信息处理板，所述第一至第五激光测距传感器分别连接至所述星务服务器，所述红外信息处理板和所述可见光信息处理板分别通过总线连接至所述星务服务器；所述星务服务器用于结合所述第一和第二红外成像敏感器采集的双目红外图像，所述第一和第二可见光成像敏感器采集的双目可见光图像，以及所述第一至第五激光测距传感器采集的激光数据，发送使所述传感器子系统进行姿态调整的控制指令；
    所述敏感器扫描结构包括连接至所述星务服务器的第一和第二旋转台，所述第一和第二可见光成像敏感器分别安装在所述第一和第二旋转台上，通过所述星务服务器控制所述第一和第二旋转台转动，使所述第一和第二可见光成像敏感器实现视场范围内的空间目标扫描；
    所述指向导引结构包括二自由度云台和云台伺服控制器；所述云台伺服控制器连接至所述星务服务器，用于接收来所述自星务服务器的控制指令，控制所述二自由度云台进行姿态调整，从而使所述传感器子系统进行姿态调整。
  2. 如权利要求1所述的自主导航装置，其特征在于，所述第一可见光成像敏感器、所述第一红外成像敏感器、所述第一激光测距传感器、所述 第二红外成像敏感器和所述第二可见光成像敏感器依次设置在同一导轨上，所述第一可见光成像敏感器和所述第一红外成像敏感器与所述第二红外成像敏感器和所述第二可见光成像敏感器相对于所述第一激光测距传感器对称；所述第二至第五激光测距传感器到所述第一激光测距传感器的距离相等，所述第二和第三激光测距传感器相对于所述导轨对称，所述第四和第五激光测距传感器相对于所述导轨对称。
  3. 一种用权利要求1或2所述的装置进行自主导航的方法，其特征在于，包括如下步骤：
    (1)第一和第二红外成像敏感器采集双目红外图像，第一和第二可见光成像敏感器采集双目可见光图像，利用双目红外图像和双目可见光图像，检测并定位空间目标，得到导航装置与空间目标的相对距离；
    (2)判断导航装置与空间目标的相对距离是否大于100m，是则将导航装置向空间目标推进，返回步骤(1)；否则顺序执行步骤(3)；
    (3)第一和第二红外成像敏感器采集双目红外图像，第一和第二可见光成像敏感器采集双目可见光图像，第一至第五激光测距传感器采集激光数据，利用双目红外图像、双目可见光图像和激光数据，得到空间目标的三维结构信息、三维距离信息和三维运动参数；
    (4)根据空间目标的三维距离信息，判断导航装置与空间目标的相对距离是否大于20m，是则将导航装置向空间目标推进，返回步骤(3)；否则顺序执行步骤(5)；
    (5)第一至第五激光测距传感器采集激光数据，利用激光数据，结合步骤(3)得到的空间目标的三维结构信息和三维运动参数，得到导航装置与空间目标的相对距离和相对姿态角；
    (6)判断导航装置与空间目标的相对姿态角是否为0，是则顺序执行步骤(7)；否则调整导航装置的姿态，减小导航装置与空间目标的相对姿态角，返回步骤(5)；
    (7)将导航装置向空间目标推进；
    (8)重复执行步骤(5)至(7)，直至导航装置到达空间目标，完成相对导航过程。
  4. 如权利要求3所述的自主导航的方法，其特征在于，所述步骤(1)进一步包括如下子步骤：
    (1-1)第一和第二红外成像敏感器采集双目红外图像，第一和第二可见光成像敏感器采集双目可见光图像，分别处理双目红外图像和双目可见光图像，分割空间目标与背景，得到空间目标的感兴趣区域；
    (1-2)提取空间目标轮廓，对空间目标轮廓进行跟踪，计算空间目标轮廓的二维图形中心，得到空间目标轮廓中心在双目可见光图像的左可见光图像和右可见光图像中的坐标分别为(U1,V1)和(U′1,V′1)，进而得到空间目标在双目可见光图像中的中心坐标
    Figure PCTCN2015072696-appb-100001
    得到空间目标轮廓中心在双目红外图像的左红外图像和右红外图像中的坐标分别为(U2,V2)和(U′2,V′2)，进而得到空间目标在双目红外图像中的中心坐标
    Figure PCTCN2015072696-appb-100002
    根据(U1,V1)和(U′1,V′1)重建出空间目标相对于导航装置的空间距离；
    (1-3)计算空间目标在双目可见光图像中的中心坐标与成像平面中心的距离，以及空间目标在双目红外图像中的中心坐标与成像平面中心的距离，调整导航装置的姿态，使空间目标轮廓中心靠近成像平面中心区域；
    (1-4)判断空间目标轮廓中心是否在成像平面中心区域，是则完成空间目标的检测定位；否则重复执行步骤(1-1)至(1-3)，直至空间目标轮廓中心落在成像平面中心区域。
  5. 如权利要求3或4所述的自主导航的方法，其特征在于，所述步骤(3)进一步包括如下子步骤：
    (3-1)第一和第二红外成像敏感器采集双目红外图像，第一和第二可见光成像敏感器采集双目可见光图像，第一至第五激光测距传感器采集激 光数据；
    (3-2)分别检测双目红外图像和双目可见光图像中的线段和角点特征，得到双目红外图像中的特征点和双目可见光图像中的特征点；
    (3-3)匹配双目红外图像的左红外图像和右红外图像中的特征点，匹配双目可见光图像的左可见光图像和右可见光图像中的特征点，重建空间目标的三维结构信息和三维距离信息；
    (3-4)利用第一至第五激光测距传感器采集的激光数据校正重建的空间目标的三维距离信息；
    (3-5)第一和第二红外成像敏感器采集双目红外序列图像，第一和第二可见光成像敏感器采集双目可见光序列图像，匹配双目红外序列图像的左红外序列图像和右红外序列图像中的特征点，匹配双目可见光序列图像的左可见光序列图像和右可见光序列图像中的特征点，得到空间目标的三维运动参数。
  6. 如权利要求3至5中任一项所述的自主导航的方法，其特征在于，所述步骤(5)进一步包括如下子步骤：
    (5-1)第一至第五激光测距传感器分别测量其相对于空间目标的距离；
    (5-2)根据第一至第五激光测距传感器与空间目标的相对距离，结合步骤(3)得到的空间目标的三维结构信息和三维运动参数，分别解算出第一至第五激光测距传感器与空间目标的相对姿态角；
    (5-3)分别将第一至第五激光测距传感器与空间目标的相对距离和相对姿态角加权平均，得到导航装置与空间目标的相对距离和相对姿态角。
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