卫星在轨自维护地面平台自主操作_王捷.pdfVIP

38 5 吉林 大学 学 报 ( 工学 版) Vol. 38 No. 5 2008 9 Journal of Jilin University (Engineering and Tec nology Edition) Sept. 2008 1 1 1 1 1, 2 王 捷 , 谢宗武 , 蒋再男, 刘业超 , 刘 宏 ( 1. 哈尔滨工业大学 机器人研究所, 哈尔滨 150080; 2. 德国宇航中心 机器人与机电 一体化研究所, 德国 慕尼黑 82230) : 提出了 一种 用于卫星在轨自维护平台的视觉自主操作策略, 阐述了标定识别定位 及视觉伺服等关键内容针对太空中变化强烈的光照环境, 采用合作目标的方式对物体进行 识别, 并对识别算法进行了特别的设计以适用于卫星有限的计算能力为了提高合作目标三 维空间定位的精度, 采用了一种合作目标亚像素精度定位的方法, 为视觉伺服进行精确的操作 奠定了基础实验结果证明了此视觉自主操作策略的可行性 : 自动控制技术; 在轨自维护; 视觉伺服; 识别; 标定; 定位 : T P391 : A : 1671-5497( 2008) 05- 1231-06 Auto-operation of on-orbit self-servicing satellite ground platform 1 1 1 1 1, 2 WANG Jie , XIE Zong-w u , JIANG Za-i nan , LIU Ye-c ao , LIU Hong ( 1. Robotics I ns titute of H arbin I nstitute of T echnology , H ar bin 150080, China; 2. I nstitute of Ro botics and M echatr onics , Ger many A er osp ace Center, M unich 82230, Ger many Abstract: An autonomous visual operation strategy w as proposed to t e key issues suc as calibration, recognition, orientation and visual servoing. A cooperative object met od w as adopted to recognize objects to adapt t e extreme lig t c anging condition in space. An effective cooperative object recognition algorit m w as proposed and optimized depending on t e limited computing capability in t e satellite on- orbit self-servicing platform . T o improve orientation accuracy of t e cooperative objective object in 3D Cartesian space, an orientation met od w it sub-pixed accuracy w as implemented, w ic establis es a base for t e imlementation of accurate visual servoing operation. T e experiment results demonstrate t e practicability of t e proposed strategy . Key words: automatic control tec nology;